From bb46d70aa158e8200d837a5c6b746a07230b90ea Mon Sep 17 00:00:00 2001
From: Sanat Dhanyamraju <saisanat@gmail.com>
Date: Sun, 13 Sep 2026 20:10:54 -0400
Subject: [PATCH 01/21] remove raw vision

---
 src/rj_common/include/rj_common/context.hpp   |  1 -
 src/rj_common/src/logger.cpp                  |  6 ---
 src/rj_protos/protos/LogFrame.proto           |  2 -
 src/rj_ui/CMakeLists.txt                      |  1 -
 src/rj_ui/include/rj_ui/field_view.hpp        |  2 -
 src/rj_ui/include/rj_ui/log_viewer.hpp        |  2 -
 src/rj_ui/include/rj_ui/main_window.hpp       |  2 -
 src/rj_ui/include/rj_ui/processor.hpp         |  2 -
 .../rj_ui/ros2_temp/raw_vision_packet_sub.hpp | 38 -------------------
 src/rj_ui/qt/LogViewer.ui                     | 18 ---------
 src/rj_ui/qt/MainWindow.ui                    | 18 ---------
 src/rj_ui/src/field_view.cpp                  | 37 ------------------
 src/rj_ui/src/log_viewer.cpp                  | 10 -----
 src/rj_ui/src/main_window.cpp                 | 10 -----
 src/rj_ui/src/processor.cpp                   |  4 --
 .../src/ros2_temp/raw_vision_packet_sub.cpp   | 19 ----------
 16 files changed, 172 deletions(-)
 delete mode 100644 src/rj_ui/include/rj_ui/ros2_temp/raw_vision_packet_sub.hpp
 delete mode 100644 src/rj_ui/src/ros2_temp/raw_vision_packet_sub.cpp

diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index 408e7b18ef7..426416089cd 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -98,7 +98,6 @@ struct Context {
     DebugDrawer debug_drawer;
 
     std::vector<Referee> referee_packets;
-    std::vector<SSL_WrapperPacket> raw_vision_packets;
 
     WorldState world_state;
 
diff --git a/src/rj_common/src/logger.cpp b/src/rj_common/src/logger.cpp
index a0530aa03e0..400e9aa58fa 100644
--- a/src/rj_common/src/logger.cpp
+++ b/src/rj_common/src/logger.cpp
@@ -149,12 +149,6 @@ std::shared_ptr<Packet::LogFrame> Logger::create_log_frame(Context* context) {
     // Debug drawing
     context->debug_drawer.fill_log_frame(log_frame.get());
 
-    // Copy raw vision packets.
-    for (const SSL_WrapperPacket& packet : context->raw_vision_packets) {
-        log_frame->add_raw_vision()->CopyFrom(packet);
-    }
-    context->raw_vision_packets.clear();
-
     // Copy referee packets.
     for (const auto& packet : context->referee_packets) {
         Referee* referee = log_frame->add_raw_refbox();
diff --git a/src/rj_protos/protos/LogFrame.proto b/src/rj_protos/protos/LogFrame.proto
index 3cc895b065d..aa224e92e67 100644
--- a/src/rj_protos/protos/LogFrame.proto
+++ b/src/rj_protos/protos/LogFrame.proto
@@ -3,7 +3,6 @@ package Packet;
 
 import "referee.proto";
 import "Point.proto";
-import "ssl_vision_wrapper.proto";
 import "RadioTx.proto";
 import "RadioRx.proto";
 
@@ -81,7 +80,6 @@ message LogFrame {
     optional LogConfig log_config = 2047;
 
     // Network packets received since the last iteration
-    repeated SSL_WrapperPacket raw_vision = 1;
     repeated Referee raw_refbox = 27;
     repeated RadioRx radio_rx = 3;
 
diff --git a/src/rj_ui/CMakeLists.txt b/src/rj_ui/CMakeLists.txt
index 3faf9900555..4593f283708 100644
--- a/src/rj_ui/CMakeLists.txt
+++ b/src/rj_ui/CMakeLists.txt
@@ -61,7 +61,6 @@ set(SRC_FILES
 
   src/ros2_temp/autonomy_interface.cpp
   src/ros2_temp/debug_draw_interface.cpp
-  src/ros2_temp/raw_vision_packet_sub.cpp
   src/ros2_temp/referee_sub.cpp
   src/ros2_temp/soccer_config_client.cpp
 
diff --git a/src/rj_ui/include/rj_ui/field_view.hpp b/src/rj_ui/include/rj_ui/field_view.hpp
index 7fdf91a1b38..ede381e27c6 100644
--- a/src/rj_ui/include/rj_ui/field_view.hpp
+++ b/src/rj_ui/include/rj_ui/field_view.hpp
@@ -62,8 +62,6 @@ class FieldView : public QWidget {
     // If false, it will draw a red border.
     bool live{};
 
-    bool showRawRobots;
-    bool showRawBalls;
     bool showCoords;
     bool showDotPatterns;
     bool showTeamNames;
diff --git a/src/rj_ui/include/rj_ui/log_viewer.hpp b/src/rj_ui/include/rj_ui/log_viewer.hpp
index 82264da069c..8801ed50890 100644
--- a/src/rj_ui/include/rj_ui/log_viewer.hpp
+++ b/src/rj_ui/include/rj_ui/log_viewer.hpp
@@ -25,8 +25,6 @@ class LogViewer : public QMainWindow {
 public Q_SLOTS:
     void updateViews();
 
-    void on_actionRawBalls_toggled(bool state);
-    void on_actionRawRobots_toggled(bool state);
     void on_actionCoords_toggled(bool state);
 
     // Field rotation
diff --git a/src/rj_ui/include/rj_ui/main_window.hpp b/src/rj_ui/include/rj_ui/main_window.hpp
index 8d00edba2de..ea1c1647c36 100644
--- a/src/rj_ui/include/rj_ui/main_window.hpp
+++ b/src/rj_ui/include/rj_ui/main_window.hpp
@@ -106,8 +106,6 @@ private Q_SLOTS:
     void updateViews();
 
     void on_fieldView_robotSelected(int shell);
-    void on_actionRawBalls_toggled(bool state);
-    void on_actionRawRobots_toggled(bool state);
     void on_actionCoords_toggled(bool state);
     void on_actionDotPatterns_toggled(bool state);
     void on_actionTeam_Names_toggled(bool state);
diff --git a/src/rj_ui/include/rj_ui/processor.hpp b/src/rj_ui/include/rj_ui/processor.hpp
index 7d2c64be582..9379bcece7a 100644
--- a/src/rj_ui/include/rj_ui/processor.hpp
+++ b/src/rj_ui/include/rj_ui/processor.hpp
@@ -30,7 +30,6 @@
 
 #include "rj_ui/ros2_temp/autonomy_interface.hpp"
 #include "rj_ui/ros2_temp/debug_draw_interface.hpp"
-#include "rj_ui/ros2_temp/raw_vision_packet_sub.hpp"
 #include "rj_ui/ros2_temp/referee_sub.hpp"
 #include "rj_ui/ros2_temp/soccer_config_client.hpp"
 
@@ -158,7 +157,6 @@ class Processor {
     AsyncWorldStateMsgQueue::UniquePtr world_state_queue_;
 
     std::unique_ptr<ros2_temp::SoccerConfigClient> config_client_;
-    std::unique_ptr<ros2_temp::RawVisionPacketSub> raw_vision_packet_sub_;
     std::unique_ptr<ros2_temp::RefereeSub> referee_sub_;
     std::unique_ptr<ros2_temp::DebugDrawInterface> debug_draw_sub_;
     std::unique_ptr<ros2_temp::AutonomyInterface> autonomy_interface_;
diff --git a/src/rj_ui/include/rj_ui/ros2_temp/raw_vision_packet_sub.hpp b/src/rj_ui/include/rj_ui/ros2_temp/raw_vision_packet_sub.hpp
deleted file mode 100644
index 67829df7b2d..00000000000
--- a/src/rj_ui/include/rj_ui/ros2_temp/raw_vision_packet_sub.hpp
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <rj_common/context.hpp>
-#include <rj_constants/topic_names.hpp>
-#include <rj_msgs/msg/raw_protobuf.hpp>
-#include <rj_topic_utils/async_message_queue.hpp>
-
-#include "rj_ui/ros2_temp/raw_vision_packet_sub.hpp"
-
-namespace ros2_temp {
-using RawProtobufMsg = rj_msgs::msg::RawProtobuf;
-
-/**
- * @brief A temporary class (until the logging framework is ported) that obtains
- * the raw protobuf messages from vision_receiver by spinning off a thread to
- * handle callbacks.
- */
-class RawVisionPacketSub {
-public:
-    using UniquePtr = std::unique_ptr<RawVisionPacketSub>;
-    RawVisionPacketSub(Context* context);
-
-    /**
-     * @brief Updates context->raw_vision_packets with the raw protobuf message
-     * from vision_receiver.
-     */
-    void run();
-
-private:
-    Context* context_;
-
-    using RawProtobufMsgQueue = rj_topic_utils::AsyncMessageQueue<
-        RawProtobufMsg, rj_topic_utils::MessagePolicy::kQueue>;
-    RawProtobufMsgQueue::UniquePtr queue_;
-};
-}  // namespace ros2_temp
\ No newline at end of file
diff --git a/src/rj_ui/qt/LogViewer.ui b/src/rj_ui/qt/LogViewer.ui
index 4855d63afb7..43467d8b987 100644
--- a/src/rj_ui/qt/LogViewer.ui
+++ b/src/rj_ui/qt/LogViewer.ui
@@ -278,8 +278,6 @@
      <addaction name="action270"/>
     </widget>
     <addaction name="menuRotation"/>
-    <addaction name="actionRawBalls"/>
-    <addaction name="actionRawRobots"/>
     <addaction name="actionCoords"/>
    </widget>
    <addaction name="menuView"/>
@@ -320,22 +318,6 @@
     <string>270</string>
    </property>
   </action>
-  <action name="actionRawBalls">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Raw &amp;Balls</string>
-   </property>
-  </action>
-  <action name="actionRawRobots">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Raw &amp;Robots</string>
-   </property>
-  </action>
   <action name="actionCoords">
    <property name="checkable">
     <bool>true</bool>
diff --git a/src/rj_ui/qt/MainWindow.ui b/src/rj_ui/qt/MainWindow.ui
index 68f3da69cb5..6c31282ea29 100644
--- a/src/rj_ui/qt/MainWindow.ui
+++ b/src/rj_ui/qt/MainWindow.ui
@@ -3186,8 +3186,6 @@
     <addaction name="action180"/>
     <addaction name="action270"/>
     <addaction name="separator"/>
-    <addaction name="actionRawBalls"/>
-    <addaction name="actionRawRobots"/>
     <addaction name="actionCoords"/>
     <addaction name="actionDotPatterns"/>
     <addaction name="actionTeam_Names"/>
@@ -3288,22 +3286,6 @@
     <string>270 degrees</string>
    </property>
   </action>
-  <action name="actionRawBalls">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Raw &amp;Balls</string>
-   </property>
-  </action>
-  <action name="actionRawRobots">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Raw &amp;Robots</string>
-   </property>
-  </action>
   <action name="actionDefendMinusX">
    <property name="checkable">
     <bool>true</bool>
diff --git a/src/rj_ui/src/field_view.cpp b/src/rj_ui/src/field_view.cpp
index b863968a2a7..9e3524cbcd0 100644
--- a/src/rj_ui/src/field_view.cpp
+++ b/src/rj_ui/src/field_view.cpp
@@ -44,8 +44,6 @@ static QColor ballColor(0xff, 0x90, 0);
 static QPen ballPen(ballColor, 0);
 
 FieldView::FieldView(QWidget* parent) : QWidget(parent) {
-    showRawRobots = false;
-    showRawBalls = false;
     showCoords = false;
     showDotPatterns = false;
     showTeamNames = false;
@@ -192,41 +190,6 @@ void FieldView::drawWorldSpace(QPainter& p) {
     // Draw the field
     drawField(p, frame);
 
-    // Raw vision
-    if (showRawBalls || showRawRobots) {
-        tempPen.setColor(QColor(0xcc, 0xcc, 0xcc));
-        p.setPen(tempPen);
-        for (const SSL_WrapperPacket& wrapper : frame->raw_vision()) {
-            if (!wrapper.has_detection()) {
-                // Useless
-                continue;
-            }
-
-            const SSL_DetectionFrame& detect = wrapper.detection();
-
-            if (showRawRobots) {
-                for (const SSL_DetectionRobot& r : detect.robots_blue()) {
-                    QPointF pos(r.x() / 1000, r.y() / 1000);
-                    drawRobot(p, true, r.robot_id(), pos, r.orientation());
-                    // p.drawEllipse(QPointF(r.x() / 1000, r.y() / 1000),
-                    // kRobotRadius, kRobotRadius);
-                }
-
-                for (const SSL_DetectionRobot& r : detect.robots_yellow()) {
-                    QPointF pos(r.x() / 1000, r.y() / 1000);
-                    drawRobot(p, false, r.robot_id(), pos, r.orientation());
-                    // p.drawEllipse(QPointF(r.x() / 1000, r.y() / 1000),
-                    // kRobotRadius, kRobotRadius);
-                }
-            }
-
-            if (showRawBalls) {
-                for (const SSL_DetectionBall& b : detect.balls()) {
-                    p.drawEllipse(QPointF(b.x() / 1000, b.y() / 1000), kBallRadius, kBallRadius);
-                }
-            }
-        }
-    }
 }
 
 void FieldView::drawTeamSpace(QPainter& p) {
diff --git a/src/rj_ui/src/log_viewer.cpp b/src/rj_ui/src/log_viewer.cpp
index 5d1779df5fa..c37c5b5d845 100644
--- a/src/rj_ui/src/log_viewer.cpp
+++ b/src/rj_ui/src/log_viewer.cpp
@@ -155,16 +155,6 @@ void LogViewer::on_action180_triggered() { ui.fieldView->rotate(2); }
 
 void LogViewer::on_action270_triggered() { ui.fieldView->rotate(3); }
 
-void LogViewer::on_actionRawBalls_toggled(bool state) {
-    ui.fieldView->showRawBalls = state;
-    ui.fieldView->update();
-}
-
-void LogViewer::on_actionRawRobots_toggled(bool state) {
-    ui.fieldView->showRawRobots = state;
-    ui.fieldView->update();
-}
-
 void LogViewer::on_actionCoords_toggled(bool state) {
     ui.fieldView->showCoords = state;
     ui.fieldView->update();
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index c54037d58d9..1159da0f5b9 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -799,16 +799,6 @@ void MainWindow::on_fieldView_robotSelected(int shell) {
     }
 }
 
-void MainWindow::on_actionRawBalls_toggled(bool state) {
-    _ui.fieldView->showRawBalls = state;
-    _ui.fieldView->update();
-}
-
-void MainWindow::on_actionRawRobots_toggled(bool state) {
-    _ui.fieldView->showRawRobots = state;
-    _ui.fieldView->update();
-}
-
 void MainWindow::on_actionCoords_toggled(bool state) {
     _ui.fieldView->showCoords = state;
     _ui.fieldView->update();
diff --git a/src/rj_ui/src/processor.cpp b/src/rj_ui/src/processor.cpp
index 77d822c34e8..8e951458ffd 100644
--- a/src/rj_ui/src/processor.cpp
+++ b/src/rj_ui/src/processor.cpp
@@ -24,7 +24,6 @@ Processor::Processor(bool sim, bool blue_team, const std::string& read_log_file)
 
     // ROS2 temp nodes
     config_client_ = std::make_unique<ros2_temp::SoccerConfigClient>(&context_);
-    raw_vision_packet_sub_ = std::make_unique<ros2_temp::RawVisionPacketSub>(&context_);
     referee_sub_ = std::make_unique<ros2_temp::RefereeSub>(&context_, ros_executor_.get());
 
     debug_draw_sub_ =
@@ -86,9 +85,6 @@ void Processor::run() {
         // Updates context_->field_dimensions
         config_client_->run();
 
-        // Updates context_->raw_vision_packets
-        raw_vision_packet_sub_->run();
-
         if (context_.field_dimensions != *current_dimensions) {
             SPDLOG_INFO("Updating field geometry based off of vision packet.");
             set_field_dimensions(context_.field_dimensions);
diff --git a/src/rj_ui/src/ros2_temp/raw_vision_packet_sub.cpp b/src/rj_ui/src/ros2_temp/raw_vision_packet_sub.cpp
deleted file mode 100644
index 893f0754b36..00000000000
--- a/src/rj_ui/src/ros2_temp/raw_vision_packet_sub.cpp
+++ /dev/null
@@ -1,19 +0,0 @@
-#include "rj_ui/ros2_temp/raw_vision_packet_sub.hpp"
-
-namespace ros2_temp {
-RawVisionPacketSub::RawVisionPacketSub(Context* context) : context_{context} {
-    queue_ = std::make_unique<RawProtobufMsgQueue>("raw_vision_packet_sub",
-                                                   vision_receiver::topics::kRawProtobufTopic);
-}
-
-void RawVisionPacketSub::run() {
-    std::vector<RawProtobufMsg::UniquePtr> raw_protobufs = queue_->get_all();
-
-    // Convert all RawProtobufMsgs to SSL_WrapperPacket
-    for (const RawProtobufMsg::UniquePtr& msg : raw_protobufs) {
-        context_->raw_vision_packets.emplace_back();
-        context_->raw_vision_packets.back().ParseFromArray(msg->data.data(), msg->data.size());
-    }
-}
-
-}  // namespace ros2_temp

From 4cfdb4b0f0a3422062674980dc935f7d853d31d5 Mon Sep 17 00:00:00 2001
From: root <saisanat@gmail.com>
Date: Mon, 14 Sep 2026 13:46:58 -0400
Subject: [PATCH 02/21] test

---
 src/rj_common/CMakeLists.txt                  |   3 -
 src/rj_common/include/rj_common/context.hpp   |  46 --
 .../include/rj_common/debug_drawer.hpp        |  84 +--
 src/rj_common/include/rj_common/logger.hpp    |  75 ---
 .../rj_common/radio/packet_convert.hpp        |   7 -
 src/rj_common/src/debug_drawer.cpp            | 122 ----
 src/rj_common/src/logger.cpp                  | 281 ----------
 src/rj_common/src/planning/trajectory.cpp     |  11 -
 src/rj_common/src/radio/packet_convert.cpp    |  82 ---
 src/rj_common/tests/logger_test.cpp           |  85 ---
 src/rj_geometry/include/rj_geometry/point.hpp |  11 -
 src/rj_protos/CMakeLists.txt                  |   6 -
 src/rj_protos/protos/Control.proto            |  32 --
 src/rj_protos/protos/LogFrame.proto           | 169 ------
 src/rj_protos/protos/Point.proto              |   7 -
 src/rj_protos/protos/RadioRx.proto            |  52 --
 src/rj_protos/protos/RadioTx.proto            |   8 -
 src/rj_protos/protos/Robot.proto              |  10 -
 src/rj_radio/src/sim_radio.cpp                |   1 -
 .../include/rj_referee/external_referee.hpp   |   1 -
 src/rj_ui/CMakeLists.txt                      |  36 +-
 src/rj_ui/include/rj_ui/field_view.hpp        |  11 +-
 src/rj_ui/include/rj_ui/live_frame.hpp        | 169 ++++++
 src/rj_ui/include/rj_ui/log_viewer.hpp        |  58 --
 src/rj_ui/include/rj_ui/main_window.hpp       |  66 +--
 src/rj_ui/include/rj_ui/processor.hpp         |  17 +-
 src/rj_ui/include/rj_ui/protobuf_tree.hpp     |  70 ---
 .../include/rj_ui/robot_status_widget.hpp     |   8 +-
 src/rj_ui/include/rj_ui/strip_chart.hpp       | 110 ----
 src/rj_ui/qt/LogViewer.ui                     | 348 ------------
 src/rj_ui/qt/MainWindow.ui                    |   8 +-
 src/rj_ui/src/field_view.cpp                  |  27 +-
 src/rj_ui/src/log_viewer.cpp                  | 184 ------
 src/rj_ui/src/log_viewer_main.cpp             |  39 --
 src/rj_ui/src/main.cpp                        |  32 +-
 src/rj_ui/src/main_window.cpp                 | 149 +++--
 src/rj_ui/src/processor.cpp                   |  22 +-
 src/rj_ui/src/protobuf_tree.cpp               | 525 ------------------
 src/rj_ui/src/robot_status_widget.cpp         | 214 ++-----
 .../src/ros2_temp/debug_draw_interface.cpp    |  10 -
 src/rj_ui/src/sim_field_view.cpp              |   9 +-
 src/rj_ui/src/strip_chart.cpp                 | 302 ----------
 src/rj_utils/CMakeLists.txt                   |   2 +
 src/rj_utils/include/rj_utils/log_utils.hpp   |   8 +-
 src/rj_utils/package.xml                      |   1 +
 45 files changed, 334 insertions(+), 3184 deletions(-)
 delete mode 100644 src/rj_common/include/rj_common/logger.hpp
 delete mode 100644 src/rj_common/src/debug_drawer.cpp
 delete mode 100644 src/rj_common/src/logger.cpp
 delete mode 100644 src/rj_common/tests/logger_test.cpp
 delete mode 100644 src/rj_protos/protos/Control.proto
 delete mode 100644 src/rj_protos/protos/LogFrame.proto
 delete mode 100644 src/rj_protos/protos/Point.proto
 delete mode 100644 src/rj_protos/protos/RadioRx.proto
 delete mode 100644 src/rj_protos/protos/RadioTx.proto
 delete mode 100644 src/rj_protos/protos/Robot.proto
 create mode 100644 src/rj_ui/include/rj_ui/live_frame.hpp
 delete mode 100644 src/rj_ui/include/rj_ui/log_viewer.hpp
 delete mode 100644 src/rj_ui/include/rj_ui/protobuf_tree.hpp
 delete mode 100644 src/rj_ui/include/rj_ui/strip_chart.hpp
 delete mode 100644 src/rj_ui/qt/LogViewer.ui
 delete mode 100644 src/rj_ui/src/log_viewer.cpp
 delete mode 100644 src/rj_ui/src/log_viewer_main.cpp
 delete mode 100644 src/rj_ui/src/protobuf_tree.cpp
 delete mode 100644 src/rj_ui/src/strip_chart.cpp

diff --git a/src/rj_common/CMakeLists.txt b/src/rj_common/CMakeLists.txt
index 5ab64ff847d..632788f67a2 100644
--- a/src/rj_common/CMakeLists.txt
+++ b/src/rj_common/CMakeLists.txt
@@ -37,9 +37,7 @@ set(RJ_COMMON_DEPS
 )
 
 add_library(${PROJECT_NAME} SHARED
-  src/debug_drawer.cpp
   src/field_dimensions.cpp
-  src/logger.cpp
   src/multicast.cpp
   src/qt_utils.cpp
   src/referee_enums.cpp
@@ -100,7 +98,6 @@ if(BUILD_TESTING)
   set(RJ_COMMON_TESTS
     ball_test
     game_state_test
-    logger_test
     rj_common_convert_test
     world_state_test 
   )
diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index 426416089cd..f98d07cb5b8 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -16,51 +16,6 @@
 #include "rj_common/team_info.hpp"
 #include "rj_common/world_state.hpp"
 
-// Keep the past thirty minutes of logs by default.
-constexpr size_t kMaxLogFrames = 60 * 60 * 30;
-
-struct Logs {
-    /**
-     * \brief A list of all log frames. This will contain at most
-     * `kMaxLogFrames` frames.
-     *
-     * This should not be accessed from the Processor thread, other
-     * than to add frames. The container may be accessed by the MainWindow
-     * thread while the Context mutex is locked, and frames may be retained
-     * and used even while the mutex is not locked (provided a shared_ptr
-     * is kept).
-     */
-    std::deque<std::shared_ptr<Packet::LogFrame>> frames;
-
-    enum class State { kNoFile, kWriting, kReading };
-
-    /**
-     * \brief The name of the log file, if it exists.
-     */
-    std::optional<std::string> filename;
-
-    /**
-     * \brief Whether we are recording (or viewing) logs.
-     */
-    State state = State::kNoFile;
-
-    /**
-     * \brief The start time of the entire system.
-     */
-    RJ::Time start_time;
-
-    /**
-     * \brief The log file size in bytes.
-     */
-    size_t size_bytes = 0;
-
-    /**
-     * The count of frames that existed before the given history
-     * but were dropped.
-     */
-    size_t dropped_frames = 0;
-};
-
 struct Context {
     Context() : debug_drawer(this) {}
 
@@ -105,6 +60,5 @@ struct Context {
 
     GameSettings game_settings;
 
-    Logs logs;
     std::string behavior_tree;
 };
diff --git a/src/rj_common/include/rj_common/debug_drawer.hpp b/src/rj_common/include/rj_common/debug_drawer.hpp
index 857de0ad5dc..5b814c8f1d7 100644
--- a/src/rj_common/include/rj_common/debug_drawer.hpp
+++ b/src/rj_common/include/rj_common/debug_drawer.hpp
@@ -13,14 +13,13 @@
 #include <rj_geometry/polygon.hpp>
 #include <rj_geometry/segment.hpp>
 #include <rj_geometry/shape_set.hpp>
-#include <rj_protos/LogFrame.pb.h>
 #include <rj_utils/log_utils.hpp>
 
 struct Context;
 
 class DebugDrawer {
 public:
-    DebugDrawer(Context* context) : num_debug_layers_(0), context_(context) { reset_log_frame(); }
+    DebugDrawer(Context* context) : num_debug_layers_(0), context_(context) {}
 
     const QStringList& debug_layers() const { return debug_layers_; }
 
@@ -28,83 +27,50 @@ class DebugDrawer {
     int find_debug_layer(QString layer);
 
     /** @ingroup drawing_functions */
-    void draw_polygon(const rj_geometry::Point* pts, int n,
-                     const QColor& qc = Qt::black,
-                     const QString& layer = QString());
+    void draw_polygon(const rj_geometry::Point*, int,
+                     const QColor& = Qt::black, const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_polygon(const std::vector<rj_geometry::Point>& pts,
-                     const QColor& qc = Qt::black,
-                     const QString& layer = QString());
+    void draw_polygon(const std::vector<rj_geometry::Point>&,
+                     const QColor& = Qt::black, const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_polygon(const rj_geometry::Polygon& pts,
-                     const QColor& qc = Qt::black,
-                     const QString& layer = QString());
+    void draw_polygon(const rj_geometry::Polygon&,
+                     const QColor& = Qt::black, const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_circle(rj_geometry::Point center, float radius,
-                    const QColor& qc = Qt::black,
-                    const QString& layer = QString());
+    void draw_circle(rj_geometry::Point, float,
+                    const QColor& = Qt::black, const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_arc(const rj_geometry::Arc& arc, const QColor& qw = Qt::black,
-                 const QString& layer = QString());
+    void draw_arc(const rj_geometry::Arc&, const QColor& = Qt::black,
+                 const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_shape(const std::shared_ptr<rj_geometry::Shape>& obs,
-                   const QColor& qw = Qt::black,
-                   const QString& layer = QString());
+    void draw_shape(const std::shared_ptr<rj_geometry::Shape>&,
+                   const QColor& = Qt::black, const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_shape_set(const rj_geometry::ShapeSet& shapes,
-                      const QColor& qw = Qt::black,
-                      const QString& layer = QString());
+    void draw_shape_set(const rj_geometry::ShapeSet&,
+                      const QColor& = Qt::black, const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_line(const rj_geometry::Segment& line, const QColor& qw = Qt::black,
-                  const QString& layer = QString());
+    void draw_line(const rj_geometry::Segment&, const QColor& = Qt::black,
+                  const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_line(rj_geometry::Point p0, rj_geometry::Point p1,
-                  const QColor& qw = Qt::black,
-                  const QString& layer = QString());
+    void draw_line(rj_geometry::Point, rj_geometry::Point,
+                  const QColor& = Qt::black, const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_text(const QString& text, rj_geometry::Point pos,
-                  const QColor& qw = Qt::black,
-                  const QString& layer = QString());
+    void draw_text(const QString&, rj_geometry::Point,
+                  const QColor& = Qt::black, const QString& = QString()) {}
 
     /** @ingroup drawing_functions */
-    void draw_segment(const rj_geometry::Segment& line,
-                     const QColor& qw = Qt::black,
-                     const QString& layer = QString());
-
-    /**
-     * Fill the given log frame with the current debug drawing information,
-     * and reset our current debug drawing data for the next cycle.
-     *
-     * @param log_frame
-     */
-    void fill_log_frame(Packet::LogFrame* log_frame) {
-        log_frame->MergeFrom(log_frame_);
-        reset_log_frame();
-    }
-
-    /**
-     * Helper pass-through method to create a new debug path.
-     */
-    Packet::DebugRobotPath* add_debug_path() {
-        return log_frame_.add_debug_robot_paths();
-    }
+    void draw_segment(const rj_geometry::Segment&, const QColor& = Qt::black,
+                     const QString& = QString()) {}
 
 private:
-    void reset_log_frame() {
-        log_frame_.Clear();
-        for (const QString& string : debug_layers_) {
-            log_frame_.add_debug_layers(string.toStdString());
-        }
-    }
     /// Number of debug layers
     int num_debug_layers_;
 
@@ -116,8 +82,4 @@ class DebugDrawer {
 
     Context* context_;
 
-    // Keep an entire log frame, but only fill the parts related to debug
-    // drawing. Then we can use protobuf's merge functionality to merge it into
-    // the main log frame.
-    Packet::LogFrame log_frame_;
 };
diff --git a/src/rj_common/include/rj_common/logger.hpp b/src/rj_common/include/rj_common/logger.hpp
deleted file mode 100644
index 25bcef85f70..00000000000
--- a/src/rj_common/include/rj_common/logger.hpp
+++ /dev/null
@@ -1,75 +0,0 @@
-#pragma once
-
-#include <deque>
-#include <fstream>
-#include <optional>
-
-#include <google/protobuf/io/coded_stream.h>
-#include <google/protobuf/io/zero_copy_stream.h>
-#include <google/protobuf/io/zero_copy_stream_impl.h>
-#include <spdlog/spdlog.h>
-
-#include <rj_protos/LogFrame.pb.h>
-#include <rj_utils/logging.hpp>
-
-#include "rj_common/context.hpp"
-#include "rj_common/control/motion_setpoint.hpp"
-#include "rj_common/node.hpp"
-#include "rj_common/radio/packet_convert.hpp"
-#include "rj_common/radio/robot_status.hpp"
-#include "rj_common/robot_intent.hpp"
-#include "rj_common/time.hpp"
-#include "rj_common/world_state.hpp"
-
-// For FRIEND_TEST
-// #include <gtest/gtest_prod.h>
-
-/**
- * \brief Populates the log frame in Context, and writes it to a file.
- *
- * When viewing logs, reads logs from a file and populates the log frame.
- */
-class Logger : public Node {
-public:
-    Logger(Context* context) : context_(context) {}
-
-    /**
-     * \brief Open the given file for reading
-     */
-    void read(const std::string& filename);
-
-    /**
-     * \brief Open the given file for writing.
-     */
-    void write(const std::string& filename);
-
-    /**
-     * \brief Close the current log file.
-     */
-    void close();
-
-    /**
-     * \brief Flush the file to disk.
-     */
-
-    void start() override;
-    void run() override;
-    void stop() override;
-
-private:
-    static std::shared_ptr<Packet::LogFrame> create_log_frame(Context* context);
-    static bool write_to_file(Packet::LogFrame* frame,
-                            google::protobuf::io::ZeroCopyOutputStream* out);
-    static bool read_from_file(Packet::LogFrame* frame,
-                             google::protobuf::io::ZeroCopyInputStream* in);
-    static void fill_robot(Packet::LogFrame::Robot* out, int shell_id,
-                          RobotState const* state, RobotStatus const* status,
-                          MotionSetpoint const* setpoint);
-
-    FRIEND_TEST(Logger, SaveContext);
-    FRIEND_TEST(Logger, SerializeDeserialize);
-
-    std::optional<std::fstream> log_file_;
-
-    Context* context_;
-};
diff --git a/src/rj_common/include/rj_common/radio/packet_convert.hpp b/src/rj_common/include/rj_common/radio/packet_convert.hpp
index c86c8c755cc..7557d007876 100644
--- a/src/rj_common/include/rj_common/radio/packet_convert.hpp
+++ b/src/rj_common/include/rj_common/radio/packet_convert.hpp
@@ -9,9 +9,6 @@
 #include <rj_msgs/msg/motion_setpoint.hpp>
 #include <rj_msgs/msg/robot_status.hpp>
 #include <rj_param_utils/global_params.hpp>
-#include <rj_protos/RadioRx.pb.h>
-#include <rj_protos/RadioTx.pb.h>
-#include <rj_protos/Robot.pb.h>
 #include <rj_protos/ssl_simulation_robot_control.pb.h>
 #include <rj_protos/ssl_simulation_robot_feedback.pb.h>
 
@@ -31,7 +28,6 @@
  *  - RTP. This is the packed format we use to send to and from real robots
  *  - sim. This is a protobuf-based format used to communicate with sim
  *  - RobotStatus. This is the in-memory representation used in Context.
- *  - Packet::RadioRx. This is the representation used in the log frame.
  *
  * For Tx (soccer to robot), the structs are similar with one exception:
  * instead of a single equivalent to RobotStatus, in-memory representations of
@@ -44,7 +40,6 @@ void rtp_to_status(const RadioMessage::RobotStatusMessage& rtp, RobotStatus* sta
 
 void sim_to_status(const RobotFeedback& sim, RobotStatus* status);
 
-void status_to_proto(const RobotStatus& status, Packet::RadioRx* proto);
 
 void status_to_ros(const RobotStatus& status, rj_msgs::msg::RobotStatus* msg);
 
@@ -61,8 +56,6 @@ void ros_to_rtp(const rj_msgs::msg::ManipulatorSetpoint& manipulator,
                 const rj_msgs::msg::MotionSetpoint& motion, int shell,
                 RadioMessage::ControlMessage* rtp, strategy::Positions role, bool blue_team);
 
-void to_proto(const planning::Trajectory& trajectory, const RobotIntent& intent,
-              const MotionSetpoint& setpoint, int shell, Packet::Robot* proto);
 
 void to_sim(const RobotIntent& intent, const MotionSetpoint& setpoint,
             int shell, RobotCommand* sim);
diff --git a/src/rj_common/src/debug_drawer.cpp b/src/rj_common/src/debug_drawer.cpp
deleted file mode 100644
index 02736f238c6..00000000000
--- a/src/rj_common/src/debug_drawer.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-#include "rj_common/debug_drawer.hpp"
-
-int DebugDrawer::find_debug_layer(QString layer) {
-    if (layer.isNull()) {
-        layer = "Debug";
-    }
-
-    QMap<QString, int>::const_iterator i = debug_layer_map_.find(layer);
-    if (i == debug_layer_map_.end()) {
-        // New layer
-        int n = num_debug_layers_++;
-        debug_layer_map_[layer] = n;
-        debug_layers_.append(layer);
-        return n;
-    }
-    // Existing layer
-    return i.value();
-}
-
-void DebugDrawer::draw_polygon(const rj_geometry::Point* pts, int n, const QColor& qc,
-                               const QString& layer) {
-    Packet::DebugPath* dbg = log_frame_.add_debug_polygons();
-    dbg->set_layer(find_debug_layer(layer));
-    for (int i = 0; i < n; ++i) {
-        *dbg->add_points() = pts[i];
-    }
-    dbg->set_color(color(qc));
-}
-
-void DebugDrawer::draw_polygon(const std::vector<rj_geometry::Point>& pts, const QColor& qc,
-                               const QString& layer) {
-    draw_polygon(pts.data(), pts.size(), qc, layer);
-}
-
-void DebugDrawer::draw_polygon(const rj_geometry::Polygon& polygon, const QColor& qc,
-                               const QString& layer) {
-    this->draw_polygon(polygon.vertices, qc, layer);
-}
-
-void DebugDrawer::draw_circle(rj_geometry::Point center, float radius, const QColor& qc,
-                              const QString& layer) {
-    Packet::DebugCircle* dbg = log_frame_.add_debug_circles();
-    dbg->set_layer(find_debug_layer(layer));
-    *dbg->mutable_center() = center;
-    dbg->set_radius(radius);
-    dbg->set_color(color(qc));
-}
-
-void DebugDrawer::draw_arc(const rj_geometry::Arc& arc, const QColor& qc, const QString& layer) {
-    Packet::DebugArc* dbg = log_frame_.add_debug_arcs();
-    dbg->set_layer(find_debug_layer(layer));
-    *dbg->mutable_center() = arc.center();
-    dbg->set_radius(arc.radius());
-    dbg->set_start(arc.start());
-    dbg->set_end(arc.end());
-    dbg->set_color(color(qc));
-}
-
-void DebugDrawer::draw_shape(const std::shared_ptr<rj_geometry::Shape>& obs, const QColor& color,
-                             const QString& layer) {
-    std::shared_ptr<rj_geometry::Circle> circ_obs =
-        std::dynamic_pointer_cast<rj_geometry::Circle>(obs);
-    std::shared_ptr<rj_geometry::Polygon> poly_obs =
-        std::dynamic_pointer_cast<rj_geometry::Polygon>(obs);
-    std::shared_ptr<rj_geometry::CompositeShape> comp_obs =
-        std::dynamic_pointer_cast<rj_geometry::CompositeShape>(obs);
-    std::shared_ptr<rj_geometry::Rect> rect_obs = std::dynamic_pointer_cast<rj_geometry::Rect>(obs);
-    if (circ_obs)
-        draw_circle(circ_obs->center, circ_obs->radius(), color, layer);
-    else if (poly_obs)
-        draw_polygon(poly_obs->vertices, color, layer);
-    else if (rect_obs) {
-        std::vector<rj_geometry::Point> points = {
-            rj_geometry::Point{rect_obs->minx(), rect_obs->miny()},
-            rj_geometry::Point{rect_obs->maxx(), rect_obs->miny()},
-            rj_geometry::Point{rect_obs->maxx(), rect_obs->maxy()},
-            rj_geometry::Point{rect_obs->minx(), rect_obs->maxy()}};
-        draw_polygon(points.data(), points.size(), color, layer);
-    } else if (comp_obs) {
-        for (const std::shared_ptr<rj_geometry::Shape>& obs : comp_obs->subshapes())
-            draw_shape(obs, color, layer);
-    }
-}
-
-void DebugDrawer::draw_shape_set(const rj_geometry::ShapeSet& shapes, const QColor& color,
-                                 const QString& layer) {
-    for (auto& shape : shapes.shapes()) {
-        draw_shape(shape, color, layer);
-    }
-}
-
-void DebugDrawer::draw_line(const rj_geometry::Segment& line, const QColor& qc,
-                            const QString& layer) {
-    Packet::DebugPath* dbg = log_frame_.add_debug_paths();
-    dbg->set_layer(find_debug_layer(layer));
-    *dbg->add_points() = line.pt[0];
-    *dbg->add_points() = line.pt[1];
-    dbg->set_color(color(qc));
-}
-
-void DebugDrawer::draw_line(rj_geometry::Point p0, rj_geometry::Point p1, const QColor& color,
-                            const QString& layer) {
-    draw_line(rj_geometry::Segment(p0, p1), color, layer);
-}
-
-void DebugDrawer::draw_text(const QString& text, rj_geometry::Point pos, const QColor& qc,
-                            const QString& layer) {
-    Packet::DebugText* dbg = log_frame_.add_debug_texts();
-    dbg->set_layer(find_debug_layer(layer));
-    dbg->set_text(text.toStdString());
-    *dbg->mutable_pos() = pos;
-    dbg->set_color(color(qc));
-}
-
-void DebugDrawer::draw_segment(const rj_geometry::Segment& line, const QColor& qc,
-                               const QString& layer) {
-    Packet::DebugPath* dbg = log_frame_.add_debug_paths();
-    dbg->set_layer(find_debug_layer(layer));
-    *dbg->add_points() = line.pt[0];
-    *dbg->add_points() = line.pt[1];
-    dbg->set_color(color(qc));
-}
\ No newline at end of file
diff --git a/src/rj_common/src/logger.cpp b/src/rj_common/src/logger.cpp
deleted file mode 100644
index 400e9aa58fa..00000000000
--- a/src/rj_common/src/logger.cpp
+++ /dev/null
@@ -1,281 +0,0 @@
-#include "rj_common/logger.hpp"
-
-using namespace Packet;
-
-// Protobuf helper function from: https://stackoverflow.com/a/22927149:
-// From Comment:
-// (I am the author of the C++ and Java protobuf libraries, but I no longer work
-// for Google. Sorry that this code never made it into the official lib. This is
-// what it would look like if it had.)
-
-/**
- * Write a message to an output stream, delimited by size.
- */
-bool write_delimited_to(const google::protobuf::MessageLite& message,
-                        google::protobuf::io::ZeroCopyOutputStream* raw_output) {
-    // We create a new coded stream for each message.  Don't worry, this is
-    // fast.
-    google::protobuf::io::CodedOutputStream output(raw_output);
-
-    // Write the size.
-    const int size = message.ByteSizeLong();
-    output.WriteVarint32(size);
-
-    uint8_t* buffer = output.GetDirectBufferForNBytesAndAdvance(size);
-    if (buffer != nullptr) {
-        // Optimization:  The message fits in one buffer, so use the faster
-        // direct-to-array serialization path.
-        message.SerializeWithCachedSizesToArray(buffer);
-    } else {
-        // Slightly-slower path when the message is multiple buffers.
-        message.SerializeWithCachedSizes(&output);
-        if (output.HadError()) {
-            return false;
-        }
-    }
-
-    return true;
-}
-
-/**
- * Read a message from an input stream, delimited by size.
- */
-bool read_delimited_from(google::protobuf::io::ZeroCopyInputStream* raw_input,
-                         google::protobuf::MessageLite* message) {
-    // We create a new coded stream for each message.  Don't worry, this is
-    // fast, and it makes sure the 64MB total size limit is imposed per-message
-    // rather than on the whole stream.  (See the CodedInputStream interface for
-    // more info on this limit.)
-    google::protobuf::io::CodedInputStream input(raw_input);
-
-    // Read the size.
-    uint32_t size = 0;
-    if (!input.ReadVarint32(&size)) {
-        return false;
-    }
-
-    // Tell the stream not to read beyond that size.
-    google::protobuf::io::CodedInputStream::Limit limit = input.PushLimit(size);
-
-    // Parse the message.
-    if (!message->MergeFromCodedStream(&input)) {
-        return false;
-    }
-    if (!input.ConsumedEntireMessage()) {
-        return false;
-    }
-
-    // Release the limit.
-    input.PopLimit(limit);
-
-    return true;
-}
-
-void Logger::start() {
-    context_->logs.start_time = RJ::now();
-
-    // Log a message that is empty except for a log config and a start time.
-    std::shared_ptr<Packet::LogFrame> log_frame = std::make_shared<Packet::LogFrame>();
-    log_frame->set_timestamp(
-        std::chrono::duration_cast<std::chrono::microseconds>(RJ::now().time_since_epoch())
-            .count());
-
-    log_frame->mutable_log_config()->set_generator("soccer");
-    log_frame->mutable_log_config()->set_simulation(context_->game_settings.simulation);
-}
-
-void Logger::run() {
-    std::shared_ptr<Packet::LogFrame> log_frame = create_log_frame(context_);
-
-    if (context_->logs.state == Logs::State::kWriting) {
-        context_->logs.size_bytes += log_frame->ByteSizeLong();
-        google::protobuf::io::OstreamOutputStream output(&log_file_.value());
-        write_to_file(log_frame.get(), &output);
-    }
-
-    while (context_->logs.frames.size() + 1 >= kMaxLogFrames) {
-        context_->logs.frames.pop_front();
-    }
-
-    context_->logs.frames.emplace_back(std::move(log_frame));
-}
-
-void Logger::stop() {}
-
-void Logger::read(const std::string& filename) {
-    log_file_ = std::fstream();
-    log_file_->open(filename, std::fstream::in | std::fstream::binary);
-    context_->logs.filename = filename;
-    context_->logs.state = Logs::State::kReading;
-
-    context_->logs.frames.clear();
-
-    if (!log_file_->good()) {
-        FATAL_THROW("Log file {} does not exist.", filename);
-    }
-
-    // Populate the entire logs struct.
-    auto frame = std::make_shared<LogFrame>();
-    google::protobuf::io::IstreamInputStream input(&log_file_.value());
-    while (read_from_file(frame.get(), &input)) {
-        context_->logs.size_bytes += frame->ByteSizeLong();
-        context_->logs.frames.emplace_back(std::move(frame));
-        frame = std::make_shared<LogFrame>();
-    }
-}
-
-void Logger::write(const std::string& filename) {
-    log_file_ = std::fstream();
-    log_file_->open(filename, std::fstream::out | std::fstream::binary);
-    context_->logs.filename = filename;
-    context_->logs.state = Logs::State::kWriting;
-
-    google::protobuf::io::OstreamOutputStream output(&log_file_.value());
-    for (const auto& frame : context_->logs.frames) {
-        write_to_file(frame.get(), &output);
-    }
-}
-
-void Logger::close() {
-    log_file_ = std::nullopt;
-    context_->logs.filename = std::nullopt;
-    context_->logs.state = Logs::State::kNoFile;
-}
-
-std::shared_ptr<Packet::LogFrame> Logger::create_log_frame(Context* context) {
-    // Add everything to the log frame.
-    auto log_frame = std::make_shared<LogFrame>();
-
-    // Debug drawing
-    context->debug_drawer.fill_log_frame(log_frame.get());
-
-    // Copy referee packets.
-    for (const auto& packet : context->referee_packets) {
-        Referee* referee = log_frame->add_raw_refbox();
-        referee->CopyFrom(packet);
-    }
-    context->referee_packets.clear();
-
-    log_frame->set_blue_team(context->blue_team);
-    log_frame->set_command_time(RJ::timestamp());
-
-    // Our robots
-    for (size_t shell = 0; shell < kNumShells; shell++) {
-        const auto& state = context->world_state.our_robots.at(shell);
-        const auto& status = context->robot_status.at(shell);
-        const auto& setpoint = context->motion_setpoints.at(shell);
-
-        if (!state.visible) {
-            continue;
-        }
-
-        LogFrame::Robot* robot = log_frame->add_self();
-        fill_robot(robot, shell, &state, &status, &setpoint);
-    }
-
-    // Radio RX/TX for each robot
-    for (size_t shell = 0; shell < kNumShells; shell++) {
-        const auto& status = context->robot_status.at(shell);
-        if (RJ::now() - status.timestamp > RJ::Seconds(0.5)) {
-            continue;
-        }
-        const auto& trajectory = context->trajectories.at(shell);
-        const auto& intent = context->robot_intents.at(shell);
-        const auto& setpoint = context->motion_setpoints.at(shell);
-
-        RadioRx* rx = log_frame->add_radio_rx();
-        ConvertRx::status_to_proto(status, rx);
-
-        Packet::Robot* tx = log_frame->mutable_radio_tx()->add_robots();
-        ConvertTx::to_proto(trajectory, intent, setpoint, static_cast<int>(shell), tx);
-    }
-
-    // Opponent robots
-    for (size_t shell = 0; shell < kNumShells; shell++) {
-        const auto& state = context->world_state.their_robots.at(shell);
-        if (!state.visible) {
-            continue;
-        }
-
-        LogFrame::Robot* robot = log_frame->add_opp();
-        fill_robot(robot, shell, &state, nullptr, nullptr);
-    }
-
-    // Ball
-    if (context->world_state.ball.visible) {
-        log_frame->mutable_ball()->mutable_pos()->set_x(
-            static_cast<float>(context->world_state.ball.position.x()));
-        log_frame->mutable_ball()->mutable_pos()->set_y(
-            static_cast<float>(context->world_state.ball.position.y()));
-        log_frame->mutable_ball()->mutable_vel()->set_x(
-            static_cast<float>(context->world_state.ball.velocity.x()));
-        log_frame->mutable_ball()->mutable_vel()->set_y(
-            static_cast<float>(context->world_state.ball.velocity.y()));
-    }
-
-    log_frame->set_manual_id(context->game_settings.joystick_config.manual_id);
-    log_frame->set_defend_plus_x(context->game_settings.defend_plus_x);
-    log_frame->set_use_our_half(context->game_settings.use_our_half);
-    log_frame->set_use_opponent_half(context->game_settings.use_their_half);
-
-    // Behavior tree
-    log_frame->set_behavior_tree(context->behavior_tree);
-
-    // Team names
-    if (context->blue_team) {
-        log_frame->set_team_name_yellow(context->their_info.name);
-        log_frame->set_team_name_blue(context->our_info.name);
-    } else {
-        log_frame->set_team_name_yellow(context->our_info.name);
-        log_frame->set_team_name_blue(context->their_info.name);
-    }
-
-    log_frame->set_timestamp(RJ::timestamp());
-
-    return log_frame;
-}
-
-bool Logger::write_to_file(Packet::LogFrame* frame,
-                           google::protobuf::io::ZeroCopyOutputStream* out) {
-    return write_delimited_to(*frame, out);
-}
-
-bool Logger::read_from_file(Packet::LogFrame* frame,
-                            google::protobuf::io::ZeroCopyInputStream* in) {
-    return read_delimited_from(in, frame);
-}
-
-void Logger::fill_robot(Packet::LogFrame::Robot* out, int shell_id, RobotState const* state,
-                        RobotStatus const* status, MotionSetpoint const* setpoint) {
-    out->set_shell(shell_id);
-
-    if (state != nullptr) {
-        out->mutable_pos()->set_x(static_cast<float>(state->pose.position().x()));
-        out->mutable_pos()->set_y(static_cast<float>(state->pose.position().y()));
-        out->set_angle(static_cast<float>(state->pose.heading()));
-        out->mutable_world_vel()->set_x(static_cast<float>(state->velocity.linear().x()));
-        out->mutable_world_vel()->set_y(static_cast<float>(state->velocity.linear().y()));
-    }
-
-    if (status != nullptr) {
-        out->set_ball_sense_status(status->has_ball ? BallSenseStatus::HasBall
-                                                    : BallSenseStatus::NoBall);
-
-        out->set_charged(status->kicker == RobotStatus::KickerState::kCharged);
-        out->set_kicker_voltage(static_cast<float>(status->kicker_voltage));
-
-        for (int i = 0; i < 5; i++) {
-            out->add_motor_status(status->motors_healthy[i] ? MotorStatus::Good
-                                                            : MotorStatus::Encoder_Failure);
-        }
-
-        out->set_kicker_works(status->kicker != RobotStatus::KickerState::kFailed);
-        out->set_battery_voltage(static_cast<float>(status->battery_voltage));
-    }
-
-    if (setpoint != nullptr) {
-        out->mutable_cmd_vel()->set_x(static_cast<float>(setpoint->xvelocity));
-        out->mutable_cmd_vel()->set_y(static_cast<float>(setpoint->yvelocity));
-        out->set_cmd_w(static_cast<float>(setpoint->avelocity));
-    }
-}
diff --git a/src/rj_common/src/planning/trajectory.cpp b/src/rj_common/src/planning/trajectory.cpp
index a25a7f64a60..2d1a7049043 100644
--- a/src/rj_common/src/planning/trajectory.cpp
+++ b/src/rj_common/src/planning/trajectory.cpp
@@ -183,17 +183,6 @@ Trajectory::Cursor Trajectory::cursor_begin() const { return Cursor{*this, insta
 
 void Trajectory::draw(DebugDrawer* drawer,
                       std::optional<rj_geometry::Point> alt_text_position) const {
-    if (instants_.size() > 1) {
-        Packet::DebugRobotPath* dbg_path = drawer->add_debug_path();
-        dbg_path->set_layer(drawer->find_debug_layer("Motion"));
-
-        for (const RobotInstant& instant : instants_) {
-            Packet::DebugRobotPath::DebugRobotPathPoint* pt = dbg_path->add_points();
-            *pt->mutable_pos() = instant.pose.position();
-            *pt->mutable_vel() = instant.velocity.linear();
-        }
-    }
-
     if (debug_text_) {
         rj_geometry::Point text_pos;
 
diff --git a/src/rj_common/src/radio/packet_convert.cpp b/src/rj_common/src/radio/packet_convert.cpp
index e7dc649fb8c..57c54670c60 100644
--- a/src/rj_common/src/radio/packet_convert.cpp
+++ b/src/rj_common/src/radio/packet_convert.cpp
@@ -69,51 +69,6 @@ void sim_to_status(const RobotFeedback& sim, RobotStatus* status) {
     status->fpga_healthy = true;
 }
 
-void status_to_proto(const RobotStatus& status, Packet::RadioRx* proto) {
-    using namespace std::chrono;
-
-    proto->set_timestamp(duration_cast<microseconds>(status.timestamp.time_since_epoch()).count());
-    proto->set_robot_id(status.shell_id);
-    proto->set_battery(static_cast<float>(status.battery_voltage));
-
-    proto->set_ball_sense_status(status.has_ball ? Packet::BallSenseStatus::HasBall
-                                                 : Packet::BallSenseStatus::NoBall);
-
-    for (int i = 0; i < 5; i++) {
-        proto->add_motor_status(status.motors_healthy[i] ? Packet::MotorStatus::Good
-                                                         : Packet::MotorStatus::Encoder_Failure);
-    }
-
-    // No encoders or RSSI
-
-    switch (status.kicker) {
-        case RobotStatus::KickerState::kFailed:
-            proto->set_kicker_status(Kicker_I2C_OK);
-            break;
-        case RobotStatus::KickerState::kCharging:
-            proto->set_kicker_status(Kicker_Enabled | Kicker_I2C_OK);
-            break;
-        case RobotStatus::KickerState::kCharged:
-            proto->set_kicker_status(Kicker_Charged | Kicker_Enabled | Kicker_I2C_OK);
-            break;
-    }
-
-    proto->set_kicker_voltage(status.kicker_voltage);
-    proto->set_fpga_status(status.fpga_healthy ? Packet::FpgaStatus::FpgaGood
-                                               : Packet::FpgaStatus::FpgaError);
-
-    switch (status.version) {
-        case RobotStatus::HardwareVersion::kUnknown:
-            proto->set_hardware_version(Packet::HardwareVersion::Unknown);
-            break;
-        case RobotStatus::HardwareVersion::kFleet2018:
-            proto->set_hardware_version(Packet::HardwareVersion::RJ2018);
-            break;
-        case RobotStatus::HardwareVersion::kSimulated:
-            proto->set_hardware_version(Packet::HardwareVersion::Simulation);
-            break;
-    }
-}
 void status_to_ros(const RobotStatus& status, rj_msgs::msg::RobotStatus* msg) {
     rj_convert::convert_to_ros(status.timestamp, &(msg->timestamp));
     msg->robot_id = status.shell_id;
@@ -189,43 +144,6 @@ void to_rtp(const RobotIntent& intent, const MotionSetpoint& setpoint, int shell
     }
 }
 
-void to_proto(const planning::Trajectory& trajectory, const RobotIntent& intent,
-              const MotionSetpoint& setpoint, int shell, Packet::Robot* proto) {
-    if (proto == nullptr) {
-        return;
-    }
-
-    proto->set_uid(shell);
-
-    Packet::Control* control = proto->mutable_control();
-
-    control->set_xvelocity(static_cast<float>(setpoint.xvelocity));
-    control->set_yvelocity(static_cast<float>(setpoint.yvelocity));
-    control->set_avelocity(static_cast<float>(setpoint.avelocity));
-    control->set_dvelocity(trajectory.dribbler_speed);
-    control->set_kcstrength(kicker_speed_to_strength(intent.kick_speed));
-
-    switch (trajectory.shoot_mode) {
-        case RobotIntent::ShootMode::KICK:
-            control->set_shootmode(Packet::Control_ShootMode_KICK);
-            break;
-        case RobotIntent::ShootMode::CHIP:
-            control->set_shootmode(Packet::Control_ShootMode_CHIP);
-            break;
-    }
-
-    switch (trajectory.trigger_mode) {
-        case RobotIntent::TriggerMode::STAND_DOWN:
-            control->set_triggermode(Packet::Control_TriggerMode_STAND_DOWN);
-            break;
-        case RobotIntent::TriggerMode::IMMEDIATE:
-            control->set_triggermode(Packet::Control_TriggerMode_IMMEDIATE);
-            break;
-        case RobotIntent::TriggerMode::ON_BREAK_BEAM:
-            control->set_triggermode(Packet::Control_TriggerMode_ON_BREAK_BEAM);
-            break;
-    }
-}
 
 void to_sim(const RobotIntent& intent, const MotionSetpoint& setpoint, int shell,
             RobotCommand* sim) {
diff --git a/src/rj_common/tests/logger_test.cpp b/src/rj_common/tests/logger_test.cpp
deleted file mode 100644
index 94f5c5c50a6..00000000000
--- a/src/rj_common/tests/logger_test.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-#include "rj_common/logger.hpp"
-
-#include <google/protobuf/io/zero_copy_stream_impl.h>
-#include <google/protobuf/util/message_differencer.h>
-#include <gtest/gtest.h>
-
-#include "rj_common/context.hpp"
-
-// NOLINTNEXTLINE
-TEST(Logger, SaveContext) {
-    RJ::Time start_time = RJ::now();
-
-    // Make sure the logger saves stuff from Context. This is not anywhere near
-    // exhaustive, it just gets a few items.
-    Context context;
-
-    // It should save robot states, and their radio packets
-    context.world_state.our_robots.at(0) =
-        RobotState{rj_geometry::Pose(1, 2, 3), rj_geometry::Twist(4, 5, 6), start_time, true};
-    context.robot_status.at(0).timestamp = start_time;
-    context.robot_status.at(0).kicker = RobotStatus::KickerState::kCharged;
-
-    // It should not save invisible robots though
-    context.world_state.our_robots.at(1) =
-        RobotState{rj_geometry::Pose(1, 2, 3), rj_geometry::Twist(4, 5, 6), start_time, false};
-
-    // Or their radio packets
-    context.robot_status.at(1).kicker = RobotStatus::KickerState::kFailed;
-
-    // We should use blue_team from GameState, not GameSettings
-    context.game_settings.request_blue_team = true;
-    context.blue_team = false;
-
-    std::shared_ptr<Packet::LogFrame> frame = Logger::create_log_frame(&context);
-
-    EXPECT_EQ(frame->self_size(), 1);
-    EXPECT_EQ(frame->self(0).shell(), 0);
-    EXPECT_EQ(frame->self(0).pos().x(), 1);
-    EXPECT_EQ(frame->self(0).pos().y(), 2);
-    EXPECT_EQ(frame->self(0).angle(), 3);
-    EXPECT_EQ(frame->radio_rx_size(), 1);
-
-    EXPECT_EQ(frame->blue_team(), false);
-}
-
-// NOLINTNEXTLINE
-TEST(Logger, SerializeDeserialize) {
-    // Make a simple log frame
-    Context context;
-
-    RJ::Time start_time = RJ::now();
-    context.world_state.our_robots.at(0) =
-        RobotState{rj_geometry::Pose(1, 2, 3), rj_geometry::Twist(4, 5, 6), start_time, true};
-    context.robot_status.at(0).timestamp = start_time;
-    context.robot_status.at(0).kicker = RobotStatus::KickerState::kCharged;
-
-    std::shared_ptr<Packet::LogFrame> frame = Logger::create_log_frame(&context);
-
-    // Allocate 1MiB
-    std::vector<char> data(1 << 20);
-    google::protobuf::io::ArrayOutputStream output(data.data(), data.size());
-
-    constexpr int kExpected = 3;
-    for (int i = 0; i < 3; i++) {
-        EXPECT_TRUE(Logger::write_to_file(frame.get(), &output));
-    }
-
-    Packet::LogFrame other_frame;
-    int count = 0;
-
-    google::protobuf::util::MessageDifferencer differencer;
-    std::string diff;
-    differencer.ReportDifferencesToString(&diff);
-
-    google::protobuf::io::ArrayInputStream input(data.data(), output.ByteCount());
-    while (Logger::read_from_file(&other_frame, &input)) {
-        count++;
-        EXPECT_TRUE(differencer.Compare(*frame, other_frame));
-        other_frame.Clear();
-    }
-
-    std::cout << diff << std::endl;
-
-    EXPECT_EQ(kExpected, count);
-}
\ No newline at end of file
diff --git a/src/rj_geometry/include/rj_geometry/point.hpp b/src/rj_geometry/include/rj_geometry/point.hpp
index 63a03f994bf..6ae13ea286d 100644
--- a/src/rj_geometry/include/rj_geometry/point.hpp
+++ b/src/rj_geometry/include/rj_geometry/point.hpp
@@ -11,7 +11,6 @@
 
 #include <rj_geometry/util.hpp>
 #include <rj_geometry_msgs/msg/point.hpp>
-#include <rj_protos/Point.pb.h>
 
 namespace rj_geometry {
 
@@ -34,10 +33,6 @@ class Point {
     */
     Point(double x = 0, double y = 0) : x_(x), y_(y) {}
 
-    /**
-     * Implicit constructor for creating a Point from a Packet::Point
-     */
-    Point(const Packet::Point& other) : Point(other.x(), other.y()) {}
 
     /**
      * Implicit constructor for creating a Point from a QPointF
@@ -69,12 +64,6 @@ class Point {
      */
     [[nodiscard]] QPointF to_q_point_f() const { return QPointF(x(), y()); }
 
-    operator Packet::Point() const {
-        Packet::Point out;
-        out.set_x(static_cast<float>(x()));
-        out.set_y(static_cast<float>(y()));
-        return out;
-    }
 
     /**
      * does vector addition
diff --git a/src/rj_protos/CMakeLists.txt b/src/rj_protos/CMakeLists.txt
index 09bf8113f29..452cd778ceb 100644
--- a/src/rj_protos/CMakeLists.txt
+++ b/src/rj_protos/CMakeLists.txt
@@ -11,16 +11,10 @@ find_package(Protobuf REQUIRED)
 protobuf_generate_cpp(
   PROTOBUF_SRCS
   PROTOBUF_HDRS
-  protos/Control.proto
   protos/grSim_Commands.proto
   protos/grSim_Packet.proto
   protos/grSim_Replacement.proto
-  protos/LogFrame.proto
-  protos/Point.proto
-  protos/RadioRx.proto
-  protos/RadioTx.proto
   protos/referee.proto
-  protos/Robot.proto
   protos/ssl_gc_common.proto
   protos/ssl_gc_geometry.proto
   protos/ssl_gc_game_event.proto
diff --git a/src/rj_protos/protos/Control.proto b/src/rj_protos/protos/Control.proto
deleted file mode 100644
index 04ffc484bc4..00000000000
--- a/src/rj_protos/protos/Control.proto
+++ /dev/null
@@ -1,32 +0,0 @@
-syntax = "proto2";
-package Packet;
-
-message Control {
-    enum ShootMode {
-        KICK = 0;
-        CHIP = 1;
-    }
-
-    enum TriggerMode {
-        STAND_DOWN = 0;
-        IMMEDIATE = 1;
-        ON_BREAK_BEAM = 2;
-    }
-
-    // LEDs on the robot display different colors based on current role
-    enum Role {
-        GOALIE = 0;
-        DEFENSE = 1;
-        OFFENSE = 2;
-        UNKNOWN = 3;
-    }
-
-    required float xVelocity = 1 [default = 0];
-    required float yVelocity = 2 [default = 0];
-    required float aVelocity = 3 [default = 0];
-    required float dVelocity = 4 [default = 0];
-    required uint32 kcStrength = 5 [default = 255];
-    required ShootMode shootMode = 6 [default = KICK];
-    required TriggerMode triggerMode = 7 [default = STAND_DOWN];
-    optional Role role = 9 [default = UNKNOWN];
-}
diff --git a/src/rj_protos/protos/LogFrame.proto b/src/rj_protos/protos/LogFrame.proto
deleted file mode 100644
index aa224e92e67..00000000000
--- a/src/rj_protos/protos/LogFrame.proto
+++ /dev/null
@@ -1,169 +0,0 @@
-syntax = "proto2";
-package Packet;
-
-import "referee.proto";
-import "Point.proto";
-import "RadioTx.proto";
-import "RadioRx.proto";
-
-message DebugRobotPath {
-    message DebugRobotPathPoint {
-        required Point pos = 2;
-        required Point vel = 3;
-    }
-
-    optional sint32 layer = 1 [default = -1];
-    repeated DebugRobotPathPoint points = 3;
-}
-
-message DebugPath {
-    optional uint32 color = 1;
-    optional sint32 layer = 2 [default = -1];
-    repeated Point points = 3;
-}
-
-message DebugCircle {
-    optional uint32 color = 1;
-    optional sint32 layer = 2 [default = -1];
-    required Point center = 3;
-    required float radius = 4;
-}
-
-message DebugArc {
-    optional uint32 color = 1;
-    optional sint32 layer = 2 [default = -1];
-    required Point center = 3;
-    required float radius = 4;
-    required float start = 5;
-    required float end = 6;
-}
-
-message DebugText {
-    optional uint32 color = 1;
-    optional sint32 layer = 2 [default = -1];
-    optional Point pos = 3;  // Not present for robot text, otherwise required
-    required string text = 4;
-    optional bool center = 5;
-}
-
-message TestResult {
-    enum TestState {
-        INCOMPLETE = 0;
-        PASSED = 1;
-        FAILED = 2;
-    }
-    optional TestState result = 1;
-    optional string name = 2;
-    optional string group = 3;
-}
-
-// Only the first LogFrame in a log file contains this. It contains unchanging
-// information about the soccer build and invocation.
-message LogConfig {
-    // Name of the program which generated this log
-    optional string generator = 1;
-
-    // git commit hash that the generating program was built from
-    optional string git_version_hash = 2;
-
-    // If true, there were uncommitted changes to the code
-    optional bool git_version_dirty = 3;
-
-    // If true, we are running in a simulation.
-    // The standalone loggers don't set this field because they don't know for
-    // sure.
-    optional bool simulation = 4;
-}
-
-message LogFrame {
-    // Only present in the first LogFrame, and not guaranteed even then.
-    optional LogConfig log_config = 2047;
-
-    // Network packets received since the last iteration
-    repeated Referee raw_refbox = 27;
-    repeated RadioRx radio_rx = 3;
-
-    // Deprecated field kept for compatability with old logs
-    repeated bytes raw_referee = 2;
-
-    // Which team are we playing as?
-    optional bool blue_team = 4;
-
-    // Time when robot commands are expected to take effect
-    optional uint64 command_time = 5;
-
-    // Debug graphics
-    repeated DebugRobotPath debug_robot_paths = 26;
-    repeated DebugPath debug_paths = 6;
-    repeated DebugPath debug_polygons = 7;
-    repeated DebugCircle debug_circles = 8;
-    repeated DebugArc debug_arcs = 9;
-    repeated DebugText debug_texts = 10;
-    repeated string debug_layers = 11;
-
-    // Filtered world state and commands
-    message Robot {
-        required Point pos = 1;
-        required Point world_vel = 7;
-        optional Point body_vel = 16;
-        required int32 shell = 2;
-        required float angle = 3;
-        optional BallSenseStatus ball_sense_status = 4;
-
-        repeated DebugText text = 6;
-
-        // only during commands
-        optional Point cmd_vel = 8;
-        optional float cmd_w = 9;
-
-        optional bool charged = 10;
-        optional float kicker_voltage = 11;
-
-        repeated MotorStatus motor_status = 12;
-
-        optional bool kicker_works = 13 [default = true];
-        optional float battery_voltage = 14;
-    }
-
-    message Ball {
-        required Point pos = 1;
-        required Point vel = 2;
-    }
-
-    repeated Robot self = 12;
-    repeated Robot opp = 13;
-    optional Ball ball = 14;
-
-    // Data sent to the radio
-    optional RadioTx radio_tx = 15;
-
-    // Which robot is under manual control
-    optional sint32 manual_id = 16 [default = -1];
-
-    // True if our goal is on the +X side of vision
-    optional bool defend_plus_x = 17;
-
-    // Name of the current play
-    // NOTE: with the transition to a python-based gameplay system, we no longer
-    // log this.
-    //       Instead, we log the "Behavior Tree", which has the play name and
-    //       all subbehavior names.
-    optional string play = 18;
-
-    // True if using each half of the field
-    optional bool use_our_half = 19 [default = true];
-    optional bool use_opponent_half = 20 [default = true];
-
-    // results from testing
-    repeated TestResult testResults = 21;
-
-    // the description of the behavior tree
-    // should show the hierarchy of behaviors and each behavior's state
-    optional string behavior_tree = 22;
-
-    optional string team_name_yellow = 23;
-    optional string team_name_blue = 24;
-
-    // timestamp in microseconds since epoch
-    required uint64 timestamp = 25;
-}
diff --git a/src/rj_protos/protos/Point.proto b/src/rj_protos/protos/Point.proto
deleted file mode 100644
index 9eae68734f4..00000000000
--- a/src/rj_protos/protos/Point.proto
+++ /dev/null
@@ -1,7 +0,0 @@
-syntax = "proto2";
-package Packet;
-
-message Point {
-    required float x = 1;
-    required float y = 2;
-}
diff --git a/src/rj_protos/protos/RadioRx.proto b/src/rj_protos/protos/RadioRx.proto
deleted file mode 100644
index 082af9405c5..00000000000
--- a/src/rj_protos/protos/RadioRx.proto
+++ /dev/null
@@ -1,52 +0,0 @@
-syntax = "proto2";
-package Packet;
-
-enum MotorStatus {
-    Good = 0;
-    Hall_Failure = 1;
-    Stalled = 2;
-    Encoder_Failure = 3;
-}
-
-enum BallSenseStatus {
-    NoBall = 0;
-    HasBall = 1;
-    Dazzled = 2;
-    Failed = 3;
-}
-
-enum FpgaStatus {
-    FpgaGood = 0;
-    FpgaNotInitialized = 1;
-    FpgaError = 2;
-}
-
-enum HardwareVersion {
-    Unknown = 0;
-    RJ2008 = 1;
-    RJ2011 = 2;
-    RJ2015 = 3;
-    RJ2018 = 4;
-    Simulation = 5;
-}
-
-// Packet going out from radio program to control program
-message RadioRx {
-    required uint64 timestamp = 1;
-    required uint32 robot_id = 2;
-    optional float rssi = 3;
-    optional float battery = 4;
-
-    optional BallSenseStatus ball_sense_status = 5;
-
-    repeated MotorStatus motor_status = 7;
-    repeated int32 encoders = 8;
-
-    optional uint32 kicker_status = 9;
-
-    optional uint32 kicker_voltage = 11;
-
-    optional FpgaStatus fpga_status = 14 [default = FpgaGood];
-
-    optional HardwareVersion hardware_version = 12 [default = Unknown];
-}
diff --git a/src/rj_protos/protos/RadioTx.proto b/src/rj_protos/protos/RadioTx.proto
deleted file mode 100644
index 63633b5c628..00000000000
--- a/src/rj_protos/protos/RadioTx.proto
+++ /dev/null
@@ -1,8 +0,0 @@
-syntax = "proto2";
-package Packet;
-
-import "Robot.proto";
-
-message RadioTx {
-    repeated Robot robots = 2;
-}
diff --git a/src/rj_protos/protos/Robot.proto b/src/rj_protos/protos/Robot.proto
deleted file mode 100644
index 74ac8eb096b..00000000000
--- a/src/rj_protos/protos/Robot.proto
+++ /dev/null
@@ -1,10 +0,0 @@
-syntax="proto2";
-package Packet;
-
-import "Control.proto";
-
-message Robot
-{
-    required uint32 uid = 1;
-    required Control control = 3;
-}
diff --git a/src/rj_radio/src/sim_radio.cpp b/src/rj_radio/src/sim_radio.cpp
index 1823cd80890..11e36b360ee 100644
--- a/src/rj_radio/src/sim_radio.cpp
+++ b/src/rj_radio/src/sim_radio.cpp
@@ -1,7 +1,6 @@
 #include "rj_radio/sim_radio.hpp"
 
 using namespace std;
-using namespace Packet;
 using namespace boost::asio;
 
 namespace radio {
diff --git a/src/rj_referee/include/rj_referee/external_referee.hpp b/src/rj_referee/include/rj_referee/external_referee.hpp
index 3673b20946e..d0001a5979f 100644
--- a/src/rj_referee/include/rj_referee/external_referee.hpp
+++ b/src/rj_referee/include/rj_referee/external_referee.hpp
@@ -25,7 +25,6 @@
 #include <rj_constants/topic_names.hpp>
 #include <rj_msgs/msg/raw_protobuf.hpp>
 #include <rj_param_utils/param.hpp>
-#include <rj_protos/LogFrame.pb.h>
 #include <rj_protos/referee.pb.h>
 #include <rj_utils/logging_macros.hpp>
 #include <unistd.h>
diff --git a/src/rj_ui/CMakeLists.txt b/src/rj_ui/CMakeLists.txt
index 4593f283708..6b3906e6187 100644
--- a/src/rj_ui/CMakeLists.txt
+++ b/src/rj_ui/CMakeLists.txt
@@ -48,15 +48,12 @@ set(SRC_FILES
   src/battery_profile.cpp
   src/battery_widget.cpp
   src/field_view.cpp
-  src/log_viewer.cpp
   src/main_window.cpp
   src/processor.cpp
-  src/protobuf_tree.cpp
   src/referee_tab.cpp
   src/robot_status_widget.cpp
   src/robot_widget.cpp
   src/sim_field_view.cpp
-  src/strip_chart.cpp
   src/style_sheet_manager.cpp
 
   src/ros2_temp/autonomy_interface.cpp
@@ -66,21 +63,17 @@ set(SRC_FILES
 
   # QT MOC Headers (need to be included here so qt generates MOC files properly)
   include/rj_ui/main_window.hpp
-  include/rj_ui/protobuf_tree.hpp
-  include/rj_ui/log_viewer.hpp
   include/rj_ui/referee_tab.hpp
   include/rj_ui/sim_field_view.hpp
 
   # QT UI Files
   qt/ConfigFileTab.ui
-  qt/LogViewer.ui
   qt/MainWindow.ui
   qt/RefereeTab.ui
   qt/RobotStatusWidget.ui
 
   # QT QRC Files
   qt/main_icons.qrc
-  qt/log_icons.qrc
 )
 
 set(RJ_UI_NODE_AUTOGEN_FILES
@@ -90,11 +83,6 @@ set(RJ_UI_NODE_AUTOGEN_FILES
   qt/RobotStatusWidget.ui
 )
 
-set(RJ_UI_LOG_VIEWER_AUTOGEN_FILES
-  include/rj_ui/log_viewer.hpp
-  qt/LogViewer.ui
-)
-
 set(RJ_UI_DEPS
   rclcpp
   Qt5
@@ -129,11 +117,6 @@ add_executable(${PROJECT_NAME}_node
   ${RJ_UI_NODE_AUTOGEN_FILES}
 )
 
-add_executable(log_viewer_node
-  src/log_viewer_main.cpp
-  ${RJ_UI_LOG_VIEWER_AUTOGEN_FILES}
-)
-
 target_include_directories(${PROJECT_NAME}_node
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -141,13 +124,6 @@ target_include_directories(${PROJECT_NAME}_node
     ${CMAKE_CURRENT_BINARY_DIR}
 )
 
-target_include_directories(log_viewer_node
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-
 target_include_directories(${PROJECT_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -160,11 +136,6 @@ target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}
 )
 
-target_link_libraries(log_viewer_node
-  PRIVATE
-  ${PROJECT_NAME}
-)
-
 target_link_libraries(${PROJECT_NAME}
   PUBLIC
   Boost::boost
@@ -185,11 +156,6 @@ ament_target_dependencies(${PROJECT_NAME}_node
   ${RJ_UI_DEPS}
 )
 
-ament_target_dependencies(log_viewer_node
-  PUBLIC
-  ${RJ_UI_DEPS}
-)
-
 ament_target_dependencies(${PROJECT_NAME}
   PUBLIC
   ${RJ_UI_DEPS}
@@ -201,7 +167,7 @@ install(
 )
 
 install(
-  TARGETS ${PROJECT_NAME}_node log_viewer_node
+  TARGETS ${PROJECT_NAME}_node
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/src/rj_ui/include/rj_ui/field_view.hpp b/src/rj_ui/include/rj_ui/field_view.hpp
index ede381e27c6..41e7660f185 100644
--- a/src/rj_ui/include/rj_ui/field_view.hpp
+++ b/src/rj_ui/include/rj_ui/field_view.hpp
@@ -21,9 +21,10 @@
 #include <rj_geometry/point.hpp>
 #include <rj_geometry/transform_matrix.hpp>
 #include <rj_geometry/util.hpp>
-#include <rj_protos/LogFrame.pb.h>
 #include <rj_utils/log_utils.hpp>
 
+#include "rj_ui/live_frame.hpp"
+
 class Logger;
 
 /** class that performs drawing of log data onto the field */
@@ -48,7 +49,7 @@ class FieldView : public QWidget {
         }
     }
 
-    void history(const std::vector<std::shared_ptr<Packet::LogFrame> >* value) {
+    void history(const std::vector<std::shared_ptr<rj_ui::LiveFrame> >* value) {
         _history = value;
     }
 
@@ -78,7 +79,7 @@ class FieldView : public QWidget {
 
     void drawText(QPainter& p, QPointF pos, const QString& text,
                   bool center = true) const;
-    static void drawField(QPainter& p, const Packet::LogFrame* frame);
+    static void drawField(QPainter& p, const rj_ui::LiveFrame* frame);
     void drawRobot(QPainter& p, bool blueRobot, int ID, QPointF pos,
                    float theta, bool hasBall = false, bool faulty = false);
     void drawCoords(QPainter& p);
@@ -97,7 +98,7 @@ class FieldView : public QWidget {
 
 protected:
     // Returns a pointer to the most recent frame, or null if none is available.
-    std::shared_ptr<Packet::LogFrame> currentFrame();
+    std::shared_ptr<rj_ui::LiveFrame> currentFrame();
 
     // Coordinate transformations
     rj_geometry::TransformMatrix _screenToWorld;
@@ -113,7 +114,7 @@ class FieldView : public QWidget {
     // How many degrees to rotate text so it shows up the right way on screen
     int _textRotation{};
 
-    const std::vector<std::shared_ptr<Packet::LogFrame> >* _history{};
+    const std::vector<std::shared_ptr<rj_ui::LiveFrame> >* _history{};
 
     QVector<bool> _layerVisible;
 };
diff --git a/src/rj_ui/include/rj_ui/live_frame.hpp b/src/rj_ui/include/rj_ui/live_frame.hpp
new file mode 100644
index 00000000000..21f4e9a38b3
--- /dev/null
+++ b/src/rj_ui/include/rj_ui/live_frame.hpp
@@ -0,0 +1,169 @@
+#pragma once
+
+#include <array>
+#include <optional>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <rj_common/context.hpp>
+
+namespace rj_ui {
+
+enum BallSenseStatus { NoBall, HasBall, Dazzled, Failed };
+enum MotorStatus { Good, Fault };
+
+struct DebugPath {
+    int layer() const { return -1; }
+    int color() const { return 0; }
+    int points_size() const { return 0; }
+    rj_geometry::Point points(int) const { return {}; }
+};
+struct DebugRobotPath {
+    struct DebugRobotPathPoint {
+        rj_geometry::Point pos() const { return {}; }
+        rj_geometry::Point vel() const { return {}; }
+    };
+    int layer() const { return -1; }
+    int points_size() const { return 0; }
+    DebugRobotPathPoint points(int) const { return {}; }
+};
+struct DebugCircle {
+    int layer() const { return -1; }
+    int color() const { return 0; }
+    rj_geometry::Point center() const { return {}; }
+    float radius() const { return 0; }
+};
+struct DebugArc {
+    int layer() const { return -1; }
+    int color() const { return 0; }
+    rj_geometry::Point center() const { return {}; }
+    float radius() const { return 0; }
+    float start() const { return 0; }
+    float end() const { return 0; }
+};
+struct DebugText {
+    int layer() const { return -1; }
+    int color() const { return 0; }
+    rj_geometry::Point pos() const { return {}; }
+    std::string text() const { return {}; }
+    bool center() const { return true; }
+};
+
+struct LiveRobot {
+    int shell() const { return shell_id; }
+    const rj_geometry::Point& pos() const { return position; }
+    float angle() const { return static_cast<float>(heading); }
+    bool has_ball_sense_status() const { return true; }
+    BallSenseStatus ball_sense_status() const { return has_ball ? BallSenseStatus::HasBall : BallSenseStatus::NoBall; }
+    bool has_kicker_works() const { return false; }
+    bool kicker_works() const { return kicker_ok; }
+    const std::vector<MotorStatus>& motor_status() const { return motors; }
+    MotorStatus motor_status(int index) const { return motors.at(index); }
+    bool has_battery_voltage() const { return true; }
+    float battery_voltage() const { return battery; }
+    const std::vector<DebugText>& text() const { return texts; }
+
+    int shell_id = -1;
+    rj_geometry::Point position;
+    double heading = 0;
+    bool has_ball = false;
+    bool kicker_ok = true;
+    float battery = 0;
+    std::vector<MotorStatus> motors;
+    std::vector<DebugText> texts;
+};
+
+struct LiveBall {
+    const rj_geometry::Point& pos() const { return position; }
+    const rj_geometry::Point& vel() const { return velocity; }
+    rj_geometry::Point position;
+    rj_geometry::Point velocity;
+};
+
+struct LiveFrame {
+    using Robot = LiveRobot;
+    static LiveFrame from_context(const Context& context) {
+        LiveFrame frame;
+        frame.blue = context.blue_team;
+        frame.defend_plus = context.game_settings.defend_plus_x;
+        frame.use_our = context.game_settings.use_our_half;
+        frame.use_opponent = context.game_settings.use_their_half;
+        frame.manual = context.game_settings.joystick_config.manual_id;
+        frame.blue_name = context.blue_team ? context.our_info.name : context.their_info.name;
+        frame.yellow_name = context.blue_team ? context.their_info.name : context.our_info.name;
+
+        for (size_t shell = 0; shell < context.world_state.our_robots.size(); ++shell) {
+            const auto& state = context.world_state.our_robots[shell];
+            if (!state.visible) continue;
+            LiveRobot robot;
+            robot.shell_id = static_cast<int>(shell);
+            robot.position = state.pose.position();
+            robot.heading = state.pose.heading();
+            const auto& status = context.robot_status[shell];
+            robot.has_ball = status.has_ball;
+            robot.kicker_ok = status.kicker != RobotStatus::KickerState::kFailed;
+            robot.battery = static_cast<float>(status.battery_voltage);
+            robot.motors.resize(status.motors_healthy.size(), MotorStatus::Good);
+            frame.self_.push_back(std::move(robot));
+        }
+        for (size_t shell = 0; shell < context.world_state.their_robots.size(); ++shell) {
+            const auto& state = context.world_state.their_robots[shell];
+            if (!state.visible) continue;
+            LiveRobot robot;
+            robot.shell_id = static_cast<int>(shell);
+            robot.position = state.pose.position();
+            robot.heading = state.pose.heading();
+            frame.opp_.push_back(std::move(robot));
+        }
+        if (context.world_state.ball.visible) {
+            frame.ball_state = LiveBall{context.world_state.ball.position,
+                                        context.world_state.ball.velocity};
+        }
+        return frame;
+    }
+
+    bool defend_plus_x() const { return defend_plus; }
+    bool use_our_half() const { return use_our; }
+    bool use_opponent_half() const { return use_opponent; }
+    bool blue_team() const { return blue; }
+    int manual_id() const { return manual; }
+    const std::string& team_name_blue() const { return blue_name; }
+    const std::string& team_name_yellow() const { return yellow_name; }
+    bool has_ball() const { return ball_state.has_value(); }
+    const LiveBall& ball() const { return *ball_state; }
+    const std::vector<DebugPath>& debug_paths() const { return debug_paths_; }
+    const std::vector<DebugRobotPath>& debug_robot_paths() const { return debug_robot_paths_; }
+    const std::vector<DebugCircle>& debug_circles() const { return debug_circles_; }
+    const std::vector<DebugArc>& debug_arcs() const { return debug_arcs_; }
+    const std::vector<DebugPath>& debug_polygons() const { return debug_polygons_; }
+    const std::vector<DebugText>& debug_texts() const { return debug_texts_; }
+
+    const std::vector<LiveRobot>& self_robots() const { return self_; }
+    const std::vector<LiveRobot>& opp_robots() const { return opp_; }
+    const std::vector<LiveRobot>& self() const { return self_; }
+    const std::vector<LiveRobot>& opp() const { return opp_; }
+    const LiveRobot& self(int index) const { return self_.at(index); }
+    const LiveRobot& opp(int index) const { return opp_.at(index); }
+    int self_size() const { return static_cast<int>(self_.size()); }
+    int opp_size() const { return static_cast<int>(opp_.size()); }
+
+    std::vector<LiveRobot> self_;
+    std::vector<LiveRobot> opp_;
+    std::optional<LiveBall> ball_state;
+    bool blue = true;
+    bool defend_plus = false;
+    bool use_our = true;
+    bool use_opponent = true;
+    int manual = -1;
+    std::string blue_name;
+    std::string yellow_name;
+    std::vector<DebugPath> debug_paths_;
+    std::vector<DebugRobotPath> debug_robot_paths_;
+    std::vector<DebugCircle> debug_circles_;
+    std::vector<DebugArc> debug_arcs_;
+    std::vector<DebugPath> debug_polygons_;
+    std::vector<DebugText> debug_texts_;
+};
+
+}  // namespace rj_ui
diff --git a/src/rj_ui/include/rj_ui/log_viewer.hpp b/src/rj_ui/include/rj_ui/log_viewer.hpp
deleted file mode 100644
index 8801ed50890..00000000000
--- a/src/rj_ui/include/rj_ui/log_viewer.hpp
+++ /dev/null
@@ -1,58 +0,0 @@
-#pragma once
-
-#include <rj_protos/LogFrame.pb.h>
-#include <ui_LogViewer.h>
-
-#include <QTime>
-#include <QTimer>
-#include <vector>
-
-class LogViewer : public QMainWindow {
-    Q_OBJECT;
-
-public:
-    LogViewer(QWidget* parent = nullptr);
-
-    int frameNumber() const { return roundf(_doubleFrameNumber); }
-
-    void frameNumber(int value) { _doubleFrameNumber = value; }
-
-    // This is called when
-    bool readFrames(const char* filename);
-
-    std::vector<std::shared_ptr<Packet::LogFrame> > frames;
-
-public Q_SLOTS:
-    void updateViews();
-
-    void on_actionCoords_toggled(bool state);
-
-    // Field rotation
-    void on_action0_triggered();
-    void on_action90_triggered();
-    void on_action180_triggered();
-    void on_action270_triggered();
-
-    void on_timeSlider_sliderPressed();
-    void on_timeSlider_sliderMoved(int value);
-    void on_playbackRate_sliderReleased();
-    void on_logBeginning_clicked();
-    void on_logPrev_clicked();
-    void on_logNext_clicked();
-    void on_logEnd_clicked();
-
-private:
-    Ui_LogViewer ui;
-
-    QTimer _updateTimer;
-    QTime _lastUpdateTime;
-    double _doubleFrameNumber;
-
-    // Recent history.
-    // Yeah, it's copied, but if it works in soccer then it works here.
-    std::vector<std::shared_ptr<Packet::LogFrame> > _history;
-
-    // Tree items that are not in LogFrame
-    QTreeWidgetItem* _frameNumberItem;
-    QTreeWidgetItem* _elapsedTimeItem;
-};
diff --git a/src/rj_ui/include/rj_ui/main_window.hpp b/src/rj_ui/include/rj_ui/main_window.hpp
index ea1c1647c36..4e1eb574da0 100644
--- a/src/rj_ui/include/rj_ui/main_window.hpp
+++ b/src/rj_ui/include/rj_ui/main_window.hpp
@@ -22,7 +22,6 @@
 #include <QTimer>
 #include <QtGui/QStandardItemModel>
 #include <boost/algorithm/string.hpp>
-#include <google/protobuf/descriptor.h>
 #include <rclcpp/rclcpp.hpp>
 #include <spdlog/spdlog.h>
 
@@ -47,7 +46,6 @@
 #include "ui_MainWindow.h"
 
 class TestResultTab;
-class StripChart;
 
 namespace {
 // Style sheets used for live/non-live controls
@@ -74,29 +72,6 @@ class MainWindow : public QMainWindow {
     /// Selects all debug layers
     void allDebugOn();
 
-    bool live();
-
-    void setLive() {
-        if (!live()) {
-            _ui.logTree->setStyleSheet(QString("QTreeWidget{%1}").arg(NonLiveStyle));
-            _playbackRate = std::nullopt;
-        }
-    }
-
-    void setPlayBackRate(double playbackRate) {
-        if (live()) {
-            _ui.logTree->setStyleSheet(QString("QTreeWidget{%1}").arg(LiveStyle));
-        }
-        _playbackRate = playbackRate;
-    }
-
-    int frameNumber() const { return roundf(_doubleFrameNumber); }
-
-    void frameNumber(int value) { _doubleFrameNumber = value; }
-
-    // Call this to update the status bar when the log file has changed
-    void logFileChanged();
-
     QTimer updateTimer;
 
     void setUseRefChecked(bool use_ref);
@@ -150,7 +125,6 @@ private Q_SLOTS:
 
     /// Debug menu commands
     void on_actionRestartUpdateTimer_triggered();
-    void on_actionStart_Logging_triggered();
 
     /// Gameplay menu
     void on_actionSeed_triggered();
@@ -158,17 +132,6 @@ private Q_SLOTS:
     // Joystick settings
     void on_joystickKickOnBreakBeam_stateChanged();
 
-    /// Log controls
-    void on_logHistoryLocation_sliderMoved(int value);
-    void on_logHistoryLocation_sliderReleased();
-    void on_logHistoryLocation_sliderPressed();
-    void on_logPlaybackRewind_clicked();
-    void on_logPlaybackPrevFrame_clicked();
-    void on_logPlaybackPause_clicked();
-    void on_logPlaybackNextFrame_clicked();
-    void on_logPlaybackPlay_clicked();
-    void on_logPlaybackLive_clicked();
-
     /// Debug layers
     void on_debugLayers_itemChanged(QListWidgetItem* item);
     void on_debugLayers_customContextMenuRequested(const QPoint& pos);
@@ -234,7 +197,6 @@ private Q_SLOTS:
     void status(const QString& text, StatusType status);
     void updateRadioBaseStatus(bool usbRadio);
     void channel(int n);
-    void updateDebugLayers(const Packet::LogFrame& frame);
 
     Ui_MainWindow _ui{};
     const QStandardItemModel* goalieModel{};
@@ -244,16 +206,6 @@ private Q_SLOTS:
 
     int current_goalie_num_{0};
 
-    // Log history, copied from Logger.
-    // This is used by other controls to get log data without having to copy it
-    // again from the Logger.
-    std::vector<std::shared_ptr<Packet::LogFrame>> _history{};
-
-    // Longer log history, copied from Logger.
-    // This is used specificially via StripChart and ProtobufTree
-    // To export a larger amount of data.
-    std::vector<std::shared_ptr<Packet::LogFrame>> _longHistory{};
-
     // Arrays containing dropdown and reset button UI objects
     std::array<QComboBox*, kNumShells> robot_pos_selectors{};
     std::array<QPushButton*, kNumShells> position_reset_buttons{};
@@ -273,28 +225,15 @@ private Q_SLOTS:
      */
     void onResetButtonClicked(int robot);
 
-    // Tree items that are not in LogFrame
-    QTreeWidgetItem* _frameNumberItem{};
-    QTreeWidgetItem* _elapsedTimeItem{};
-
-    /// playback rate of the viewer - a value of 1 means realtime
-    std::optional<double> _playbackRate;
-
     // This is used to update some status items less frequently than the full
     // field view
     int _updateCount;
 
-    // Tracking fractional frames is the easiest way to allow arbitrary playback
-    // rates. To keep rounding consistent, only access this with frameNumber().
-    double _doubleFrameNumber;
-
     RJ::Time _lastUpdateTime;
 
     QLabel* _currentPlay{};
-    QLabel* _logFile{};
     QLabel* _viewFPS{};
     QLabel* _procFPS{};
-    QLabel* _logMemory{};
 
     // QActionGroups for Radio Menu Actions
     std::map<std::string, QActionGroup*> qActionGroups{};
@@ -302,9 +241,6 @@ private Q_SLOTS:
     // maps robot shell IDs to items in the list
     std::map<int, std::unique_ptr<QListWidgetItem>> _robotStatusItemMap{};
 
-    /// the play, pause, ffwd, etc buttons
-    std::vector<QPushButton*> _logPlaybackButtons{};
-
     std::vector<QComboBox*> _robotConfigQComboBoxes{};
 
     std::vector<QComboBox*> _robotDebugResponseQComboBoxes{};
@@ -312,6 +248,8 @@ private Q_SLOTS:
     std::mutex* context__mutex;
     Context* context_;
 
+    std::vector<std::shared_ptr<rj_ui::LiveFrame>> _history{};
+
     // ROS Compatibility stuff
     void send_quick_command(const PlayState& state);
 
diff --git a/src/rj_ui/include/rj_ui/processor.hpp b/src/rj_ui/include/rj_ui/processor.hpp
index 9379bcece7a..80f8be2c7b3 100644
--- a/src/rj_ui/include/rj_ui/processor.hpp
+++ b/src/rj_ui/include/rj_ui/processor.hpp
@@ -14,7 +14,6 @@
 
 #include <rj_common/context.hpp>
 #include <rj_common/debug_drawer.hpp>
-#include <rj_common/logger.hpp>
 #include <rj_common/node.hpp>
 #include <rj_constants/constants.hpp>
 #include <rj_constants/topic_names.hpp>
@@ -23,7 +22,6 @@
 #include <rj_geometry/transform_matrix.hpp>
 #include <rj_geometry/util.hpp>
 #include <rj_msgs/msg/world_state.hpp>
-#include <rj_protos/LogFrame.pb.h>
 #include <rj_referee/external_referee.hpp>
 #include <rj_topic_utils/async_message_queue.hpp>
 #include <rj_utils/logging.hpp>
@@ -66,7 +64,7 @@ class Processor {
         RJ::Time last_radio_rx_time;
     };
 
-    Processor(bool sim, bool blue_team, const std::string& read_log_file = "");
+    Processor(bool sim, bool blue_team);
     virtual ~Processor();
 
     void stop();
@@ -82,13 +80,6 @@ class Processor {
 
     float framerate() { return framerate_; }
 
-    bool open_log(const QString& filename) {
-        logger_->write(filename.toStdString());
-        return true;
-    }
-
-    void close_log() { logger_->close(); }
-
     std::lock_guard<std::mutex> lock_loop_mutex() {
         return std::lock_guard(loop_mutex_);
     }
@@ -120,10 +111,6 @@ class Processor {
     /** Used to start and stop the thread **/
     volatile bool running_;
 
-    // A logfile to read from.
-    // When empty, don't read logs at all.
-    std::string read_log_file_;
-
     // Locked when processing loop stuff is happening (not when blocked for
     // timing or I/O). This is public so the GUI thread can lock it to access
     // SystemState, etc.
@@ -145,8 +132,6 @@ class Processor {
 
     // modules
     std::shared_ptr<Gameplay::GameplayModule> gameplay_module_;
-    std::unique_ptr<Logger> logger_;
-
     std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> ros_executor_;
 
     // ROS2 temporary modules
diff --git a/src/rj_ui/include/rj_ui/protobuf_tree.hpp b/src/rj_ui/include/rj_ui/protobuf_tree.hpp
deleted file mode 100644
index ab8a817ba56..00000000000
--- a/src/rj_ui/include/rj_ui/protobuf_tree.hpp
+++ /dev/null
@@ -1,70 +0,0 @@
-#pragma once
-
-#include <cstdio>
-#include <iostream>
-#include <memory>
-#include <vector>
-
-#include <QContextMenuEvent>
-#include <QDockWidget>
-#include <QMainWindow>
-#include <QMenu>
-#include <QTimer>
-#include <QTreeWidget>
-#include <google/protobuf/descriptor.h>
-#include <google/protobuf/message.h>
-
-#include "rj_ui/strip_chart.hpp"
-
-class QMainWindow;
-class QTimer;
-
-namespace Packet {
-class LogFrame;
-}
-
-class ProtobufTree : public QTreeWidget {
-    Q_OBJECT
-
-public:
-    ProtobufTree(QWidget* parent = nullptr);
-
-    // Column numbers
-    enum { Column_Field = 0, Column_Value = 1, Column_Tag = 2 };
-
-    // Updates the tree with the given message.
-    // Returns true if any items were added.
-    //
-    // Items will only be removed from the tree when the number of elements
-    // in a repeated field is reduced.  Fields are never removed.
-    bool message(const google::protobuf::Message& msg);
-
-    void expandMessages(QTreeWidgetItem* item = nullptr);
-
-    // Expands an item recursively
-    void expandSubtree(QTreeWidgetItem* item);
-
-    // Collapses an item recursively
-    void collapseSubtree(QTreeWidgetItem* item);
-
-    // This is only used for creating charts
-    void history(const std::vector<std::shared_ptr<Packet::LogFrame> >* value) {
-        _history = value;
-    }
-
-    QMainWindow* mainWindow;
-    QTimer* updateTimer;
-
-protected:
-    // Recursively updates the tree. This should only be called for items where
-    // <parent> is the item for a message (not a repeated field).
-    bool addTreeData(QTreeWidgetItem* parent,
-                     const google::protobuf::Message& msg);
-
-    static void addBytes(QTreeWidgetItem* parent, const std::string& bytes);
-
-    virtual void contextMenuEvent(QContextMenuEvent* e) override;
-
-    bool _first;
-    const std::vector<std::shared_ptr<Packet::LogFrame> >* _history;
-};
diff --git a/src/rj_ui/include/rj_ui/robot_status_widget.hpp b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
index 5ef6109ede0..a83a526e34d 100644
--- a/src/rj_ui/include/rj_ui/robot_status_widget.hpp
+++ b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
@@ -8,7 +8,8 @@
 #include <spdlog/spdlog.h>
 
 #include <rj_common/status.hpp>
-#include <rj_protos/LogFrame.pb.h>
+#include <rj_common/radio/robot_status.hpp>
+#include <rj_common/world_state.hpp>
 
 #include "rj_ui/battery_profile.hpp"
 #include "ui_RobotStatusWidget.h"
@@ -22,10 +23,7 @@ class RobotStatusWidget : public QWidget {
 public:
     RobotStatusWidget(QWidget* parent = nullptr, Qt::WindowFlags f = nullptr);
 
-    void loadFromLogFrame(
-        const Packet::RadioRx& rx,
-        const std::optional<Packet::LogFrame::Robot>& maybe_robot,
-        bool blueTeam);
+    void load(const RobotStatus& status, const RobotState& robot, bool blueTeam);
 
     [[nodiscard]] int shellID() const;
     void setShellID(int shellID);
diff --git a/src/rj_ui/include/rj_ui/strip_chart.hpp b/src/rj_ui/include/rj_ui/strip_chart.hpp
deleted file mode 100644
index 56997864602..00000000000
--- a/src/rj_ui/include/rj_ui/strip_chart.hpp
+++ /dev/null
@@ -1,110 +0,0 @@
-#pragma once
-
-#include <algorithm>
-#include <cmath>
-#include <cstdio>
-#include <fstream>
-#include <memory>
-#include <vector>
-
-#include <QDateTime>
-#include <QFileDialog>
-#include <QPainter>
-#include <QWidget>
-#include <fmt/ostream.h>
-#include <google/protobuf/descriptor.h>
-#include <spdlog/spdlog.h>
-
-#include <rj_common/time.hpp>
-#include <rj_constants/constants.hpp>
-#include <rj_geometry/point.hpp>
-#include <rj_protos/LogFrame.pb.h>
-#include <string.h>
-
-namespace Packet {
-class LogFrame;
-}
-
-// Chart functions:
-//
-// Gets the value for a given frame.
-// Stores the value in v.
-// Returns true if the value was available.
-// Returns false with v undefined if the value was not available.
-namespace Chart {
-struct Function {
-    virtual ~Function() = default;
-    virtual bool value(const Packet::LogFrame& frame, float* v) const = 0;
-
-    // Vector of tags from LogFrame to the float, double, or point field to be
-    // used.
-    // Each tag except the last one must identify a Message.
-    // A repeated field's tag is followed by the index of the item.
-    QVector<int> path;
-    QString name;
-};
-
-struct PointMagnitude : public Function {
-    bool value(const Packet::LogFrame& frame, float* v) const override;
-};
-
-struct NumericField : public Function {
-    bool value(const Packet::LogFrame& frame, float* v) const override;
-};
-}
-
-class StripChart : public QWidget {
-public:
-    StripChart(QWidget* parent = nullptr);
-    ~StripChart() override = default;
-
-    void history(const std::vector<std::shared_ptr<Packet::LogFrame> >* value) {
-        _history = value;
-    }
-
-    // Sets the chart function.
-    // This chart owns the function and will destroy it when needed.
-    void function(Chart::Function* function);
-
-    QList<Chart::Function*> getFunctions() { return _functions; }
-
-    // Exports the contents of the chart to a .csv file
-    void exportChart();
-
-    void minValue(float v) { _minValue = v; }
-
-    void maxValue(float v) { _maxValue = v; }
-
-    void color(const QColor& color) {
-        _color = color;
-        update();
-    }
-
-    // If true, minValue and maxValue are automatically changed when
-    // out-of-range values are found
-    bool autoRange;
-
-    // Arbitrary value for width of the chart, must be <= history size
-    int chartSize = 1000;
-
-protected:
-    void paintEvent(QPaintEvent* e) override;
-
-    // Returns the position for the data at a given frame.
-    // i is an index in _history, so 0 is the most recent frame
-    // and increasing indices are older frames.
-    QPointF dataPoint(int i, float value);
-
-    int indexAtPoint(const QPoint& point);
-
-    // Chart function (see above)
-    QList<Chart::Function*> _functions;
-
-    float _minValue;
-    float _maxValue;
-    QColor _color;
-
-    const std::vector<std::shared_ptr<Packet::LogFrame> >* _history;
-
-    QPointF _mouse_overlay;
-};
diff --git a/src/rj_ui/qt/LogViewer.ui b/src/rj_ui/qt/LogViewer.ui
deleted file mode 100644
index 43467d8b987..00000000000
--- a/src/rj_ui/qt/LogViewer.ui
+++ /dev/null
@@ -1,348 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>LogViewer</class>
- <widget class="QMainWindow" name="LogViewer">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>800</width>
-    <height>644</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Log Viewer</string>
-  </property>
-  <widget class="QWidget" name="centralwidget">
-   <layout class="QVBoxLayout" name="verticalLayout">
-    <item>
-     <layout class="QHBoxLayout" name="horizontalLayout">
-      <item>
-       <widget class="QFrame" name="logControls">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <layout class="QVBoxLayout" name="verticalLayout_4">
-         <property name="spacing">
-          <number>0</number>
-         </property>
-         <property name="margin">
-          <number>0</number>
-         </property>
-         <item>
-          <widget class="QSlider" name="playbackRate">
-           <property name="toolTip">
-            <string>Playback Speed</string>
-           </property>
-           <property name="minimum">
-            <number>-600</number>
-           </property>
-           <property name="maximum">
-            <number>600</number>
-           </property>
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="tickPosition">
-            <enum>QSlider::TicksBelow</enum>
-           </property>
-           <property name="tickInterval">
-            <number>600</number>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_2">
-           <property name="spacing">
-            <number>0</number>
-           </property>
-           <item>
-            <spacer name="horizontalSpacer">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QPushButton" name="logBeginning">
-             <property name="toolTip">
-              <string>Beginning</string>
-             </property>
-             <property name="icon">
-              <iconset resource="log_icons.qrc">
-               <normaloff>:/icons/media-skip-backward.png</normaloff>:/icons/media-skip-backward.png</iconset>
-             </property>
-             <property name="iconSize">
-              <size>
-               <width>32</width>
-               <height>32</height>
-              </size>
-             </property>
-             <property name="flat">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="logPrev">
-             <property name="toolTip">
-              <string>Previous Frame</string>
-             </property>
-             <property name="icon">
-              <iconset resource="log_icons.qrc">
-               <normaloff>:/icons/media-seek-backward.png</normaloff>:/icons/media-seek-backward.png</iconset>
-             </property>
-             <property name="iconSize">
-              <size>
-               <width>32</width>
-               <height>32</height>
-              </size>
-             </property>
-             <property name="flat">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="logNext">
-             <property name="toolTip">
-              <string>Next Frame</string>
-             </property>
-             <property name="icon">
-              <iconset resource="log_icons.qrc">
-               <normaloff>:/icons/media-seek-forward.png</normaloff>:/icons/media-seek-forward.png</iconset>
-             </property>
-             <property name="iconSize">
-              <size>
-               <width>32</width>
-               <height>32</height>
-              </size>
-             </property>
-             <property name="flat">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="logEnd">
-             <property name="toolTip">
-              <string>End</string>
-             </property>
-             <property name="icon">
-              <iconset resource="log_icons.qrc">
-               <normaloff>:/icons/media-skip-forward.png</normaloff>:/icons/media-skip-forward.png</iconset>
-             </property>
-             <property name="iconSize">
-              <size>
-               <width>32</width>
-               <height>32</height>
-              </size>
-             </property>
-             <property name="flat">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_2">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-        </layout>
-       </widget>
-      </item>
-      <item>
-       <spacer name="horizontalSpacer_3">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>40</width>
-          <height>20</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-     </layout>
-    </item>
-    <item>
-     <layout class="QHBoxLayout" name="horizontalLayout_3">
-      <item>
-       <widget class="QLabel" name="label">
-        <property name="text">
-         <string>Time:</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QSlider" name="timeSlider">
-        <property name="toolTip">
-         <string>Time</string>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </item>
-    <item>
-     <widget class="QSplitter" name="splitter">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="orientation">
-       <enum>Qt::Horizontal</enum>
-      </property>
-      <widget class="FieldView" name="fieldView" native="true">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-      </widget>
-      <widget class="ProtobufTree" name="tree">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Ignored" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="columnCount">
-        <number>3</number>
-       </property>
-       <column>
-        <property name="text">
-         <string>Field</string>
-        </property>
-       </column>
-       <column>
-        <property name="text">
-         <string>Value</string>
-        </property>
-       </column>
-       <column>
-        <property name="text">
-         <string>Tag</string>
-        </property>
-       </column>
-      </widget>
-     </widget>
-    </item>
-   </layout>
-  </widget>
-  <widget class="QMenuBar" name="menubar">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>0</y>
-     <width>800</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <widget class="QMenu" name="menuView">
-    <property name="title">
-     <string>&amp;View</string>
-    </property>
-    <widget class="QMenu" name="menuRotation">
-     <property name="title">
-      <string>R&amp;otation</string>
-     </property>
-     <addaction name="action0"/>
-     <addaction name="action90"/>
-     <addaction name="action180"/>
-     <addaction name="action270"/>
-    </widget>
-    <addaction name="menuRotation"/>
-    <addaction name="actionCoords"/>
-   </widget>
-   <addaction name="menuView"/>
-  </widget>
-  <widget class="QStatusBar" name="statusbar"/>
-  <action name="action0">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="checked">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>0</string>
-   </property>
-  </action>
-  <action name="action90">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>90</string>
-   </property>
-  </action>
-  <action name="action180">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>180</string>
-   </property>
-  </action>
-  <action name="action270">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>270</string>
-   </property>
-  </action>
-  <action name="actionCoords">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>&amp;Coordinate Frames</string>
-   </property>
-  </action>
- </widget>
- <customwidgets>
-  <customwidget>
-   <class>FieldView</class>
-   <extends>QWidget</extends>
-   <header location="global">rj_ui/field_view.hpp</header>
-   <container>1</container>
-  </customwidget>
-  <customwidget>
-   <class>ProtobufTree</class>
-   <extends>QTreeWidget</extends>
-   <header location="global">rj_ui/protobuf_tree.hpp</header>
-  </customwidget>
- </customwidgets>
- <resources>
-  <include location="main_icons.qrc"/>
-  <include location="log_icons.qrc"/>
- </resources>
- <connections/>
-</ui>
diff --git a/src/rj_ui/qt/MainWindow.ui b/src/rj_ui/qt/MainWindow.ui
index 6c31282ea29..0f82d36b252 100644
--- a/src/rj_ui/qt/MainWindow.ui
+++ b/src/rj_ui/qt/MainWindow.ui
@@ -1815,7 +1815,7 @@
             <number>0</number>
            </property>
            <item>
-            <widget class="ProtobufTree" name="logTree">
+            <widget class="QTreeWidget" name="logTree">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Ignored" vsizetype="Expanding">
                <horstretch>0</horstretch>
@@ -3593,11 +3593,6 @@
   </action>
  </widget>
  <customwidgets>
-  <customwidget>
-   <class>ProtobufTree</class>
-   <extends>QTreeWidget</extends>
-   <header>rj_ui/protobuf_tree.hpp</header>
-  </customwidget>
   <customwidget>
    <class>SimFieldView</class>
    <extends>QWidget</extends>
@@ -3607,7 +3602,6 @@
  </customwidgets>
  <resources>
   <include location="main_icons.qrc"/>
-  <include location="log_icons.qrc"/>
  </resources>
  <connections>
   <connection>
diff --git a/src/rj_ui/src/field_view.cpp b/src/rj_ui/src/field_view.cpp
index 9e3524cbcd0..2336f30274b 100644
--- a/src/rj_ui/src/field_view.cpp
+++ b/src/rj_ui/src/field_view.cpp
@@ -21,13 +21,12 @@
 #include <rj_geometry/point.hpp>
 #include <rj_geometry/transform_matrix.hpp>
 #include <rj_geometry/util.hpp>
-#include <rj_protos/LogFrame.pb.h>
 #include <rj_utils/log_utils.hpp>
 
 using namespace std;
 
 using namespace boost;
-using namespace Packet;
+using namespace rj_ui;
 
 static QPen redPen(Qt::red, 0);
 static QPen bluePen(Qt::blue, 0);
@@ -82,11 +81,11 @@ void FieldView::mouseMoveEvent(QMouseEvent* me) {
     _posLabel->setText(s);
 }
 
-std::shared_ptr<LogFrame> FieldView::currentFrame() {
+std::shared_ptr<LiveFrame> FieldView::currentFrame() {
     if (_history != nullptr && !_history->empty()) {
         return _history->back();
     }
-    return std::shared_ptr<LogFrame>();
+    return std::shared_ptr<LiveFrame>();
 }
 
 void FieldView::rotate(int value) {
@@ -128,7 +127,7 @@ void FieldView::paintEvent(QPaintEvent* /*e*/) {
     }
 
     // Get the latest LogFrame
-    const std::shared_ptr<LogFrame> frame = currentFrame();
+    const std::shared_ptr<LiveFrame> frame = currentFrame();
 
     if (!frame) {
         // No data available yet
@@ -185,7 +184,7 @@ void FieldView::paintEvent(QPaintEvent* /*e*/) {
 
 void FieldView::drawWorldSpace(QPainter& p) {
     // Get the latest LogFrame
-    const LogFrame* frame = _history->back().get();
+    const LiveFrame* frame = _history->back().get();
 
     // Draw the field
     drawField(p, frame);
@@ -194,7 +193,7 @@ void FieldView::drawWorldSpace(QPainter& p) {
 
 void FieldView::drawTeamSpace(QPainter& p) {
     // Get the latest LogFrame
-    const LogFrame* frame = _history->back().get();
+    const LiveFrame* frame = _history->back().get();
 
     if (showTeamNames) {
         // Draw Team Names
@@ -237,7 +236,7 @@ void FieldView::drawTeamSpace(QPainter& p) {
     int ballTrailLength = 60;
     for (unsigned int i = _history->size() - std::min<int>(_history->size(), ballTrailLength);
          i < _history->size(); ++i) {
-        const LogFrame* oldFrame = _history->at(i).get();
+        const LiveFrame* oldFrame = _history->at(i).get();
         if (oldFrame != nullptr && oldFrame->has_ball()) {
             QPointF pos = qpointf(oldFrame->ball().pos());
 
@@ -375,9 +374,9 @@ void FieldView::drawTeamSpace(QPainter& p) {
     int pastLocationCount = 40;  // number of past locations to show
     int start = std::max(0, static_cast<int>(_history->size()) - pastLocationCount);
     for (size_t i = start; i < _history->size(); i++) {
-        const LogFrame* oldFrame = _history->at(i).get();
+        const LiveFrame* oldFrame = _history->at(i).get();
         if (oldFrame != nullptr) {
-            for (const LogFrame::Robot& r : oldFrame->self()) {
+            for (const LiveFrame::Robot& r : oldFrame->self()) {
                 pair<int, int> key(1, r.shell());
                 if (cometTrails.find(key) != cometTrails.end() || i == start) {
                     QPointF pt = qpointf(r.pos());
@@ -389,7 +388,7 @@ void FieldView::drawTeamSpace(QPainter& p) {
                 }
             }
 
-            for (const LogFrame::Robot& r : oldFrame->opp()) {
+            for (const LiveFrame::Robot& r : oldFrame->opp()) {
                 pair<int, int> key(2, r.shell());
                 if (cometTrails.find(key) != cometTrails.end() || i == start) {
                     QPointF pt = qpointf(r.pos());
@@ -421,14 +420,14 @@ void FieldView::drawTeamSpace(QPainter& p) {
     QPointF rtY = qpointf(rj_geometry::Point(-1, 0).rotated(-_rotate * 90));
 
     // Opponent robots
-    for (const LogFrame::Robot& r : frame->opp()) {
+    for (const LiveFrame::Robot& r : frame->opp()) {
         drawRobot(p, !frame->blue_team(), r.shell(), qpointf(r.pos()), r.angle(),
                   r.ball_sense_status() == HasBall);
     }
 
     // Our robots
     int manualID = frame->manual_id();
-    for (const LogFrame::Robot& r : frame->self()) {
+    for (const LiveFrame::Robot& r : frame->self()) {
         QPointF center = qpointf(r.pos());
 
         bool faulty = false;
@@ -519,7 +518,7 @@ void FieldView::drawCoords(QPainter& p) {
     drawText(p, QPointF(0.1, 0.25), "+Y");
 }
 
-void FieldView::drawField(QPainter& p, const LogFrame* frame) {
+void FieldView::drawField(QPainter& p, const LiveFrame* frame) {
     p.save();
 
     // reset to center
diff --git a/src/rj_ui/src/log_viewer.cpp b/src/rj_ui/src/log_viewer.cpp
deleted file mode 100644
index c37c5b5d845..00000000000
--- a/src/rj_ui/src/log_viewer.cpp
+++ /dev/null
@@ -1,184 +0,0 @@
-#include <algorithm>
-#include <cstdio>
-#include <vector>
-
-#include <QApplication>
-#include <QFile>
-#include <QTime>
-#include <QTimer>
-#include <google/protobuf/io/zero_copy_stream_impl.h>
-
-#include <fcntl.h>
-#include <rj_protos/LogFrame.pb.h>
-#include <rj_ui/log_viewer.hpp>
-#include <ui_LogViewer.h>
-
-using namespace std;
-using namespace boost;
-using namespace Packet;
-using namespace google::protobuf::io;
-
-// void usage(const char* prog) {
-//     fprintf(stderr, "Usage: %s <filename.log>\n", prog);
-//     exit(1);
-// }
-
-// int main(int argc, char* argv[]) {
-//     QApplication app(argc, argv);
-
-//     if (argc != 2) {
-//         usage(argv[0]);
-//     }
-
-//     LogViewer win;
-
-//     win.readFrames(argv[1]);
-//     win.showMaximized();
-
-//     return QApplication::exec();
-// }
-
-LogViewer::LogViewer(QWidget* parent) : QMainWindow(parent) {
-    ui.setupUi(this);
-
-    _history.resize(2 * 60);
-    ui.fieldView->history(&_history);
-
-    _frameNumberItem = new QTreeWidgetItem(ui.tree);
-    _frameNumberItem->setText(ProtobufTree::Column_Field, "Frame");
-    _frameNumberItem->setData(ProtobufTree::Column_Tag, Qt::DisplayRole, -2);
-
-    _elapsedTimeItem = new QTreeWidgetItem(ui.tree);
-    _elapsedTimeItem->setText(ProtobufTree::Column_Field, "Elapsed Time");
-    _elapsedTimeItem->setData(ProtobufTree::Column_Tag, Qt::DisplayRole, -1);
-
-    ui.splitter->setStretchFactor(0, 98);
-    ui.splitter->setStretchFactor(1, 10);
-
-    QActionGroup* rotateGroup = new QActionGroup(this);
-    rotateGroup->addAction(ui.action0);
-    rotateGroup->addAction(ui.action90);
-    rotateGroup->addAction(ui.action180);
-    rotateGroup->addAction(ui.action270);
-
-    connect(&_updateTimer, SIGNAL(timeout()), SLOT(updateViews()));
-    _updateTimer.start(30);
-}
-
-bool LogViewer::readFrames(const char* filename) {
-    frames.clear();
-    ui.timeSlider->setMaximum(0);
-
-    QFile file(filename);
-    if (!file.open(QFile::ReadOnly)) {
-        fprintf(stderr, "Can't open %s: %s\n", filename,
-                (const char*)file.errorString().toLatin1());
-        return false;
-    }
-
-    int n = 0;
-    while (!file.atEnd()) {
-        uint32_t size = 0;
-        if (file.read((char*)&size, sizeof(size)) != sizeof(size)) {
-            // Broken length
-            printf("Broken length\n");
-            return false;
-        }
-
-        string str(size, 0);
-        if (file.read(&str[0], size) != size) {
-            // Broken packet at end of file
-            printf("Broken packet\n");
-            return false;
-        }
-
-        std::shared_ptr<LogFrame> frame = std::make_shared<LogFrame>();
-        frames.push_back(frame);
-        // Parse partial so we can recover from corrupt data
-        if (!frame->ParsePartialFromString(str)) {
-            printf("Failed: %s\n", frame->InitializationErrorString().c_str());
-            return false;
-        }
-        ++n;
-    }
-
-    ui.timeSlider->setMaximum(frames.size());
-    return true;
-}
-
-void LogViewer::updateViews() {
-    // Update current frame number
-    QTime time = QTime::currentTime();
-    if (!_lastUpdateTime.isNull()) {
-        _doubleFrameNumber += ui.playbackRate->value() * _lastUpdateTime.msecsTo(time) / 1000.0;
-    }
-    _lastUpdateTime = time;
-
-    // Limit to available data
-    _doubleFrameNumber = max(0.0, _doubleFrameNumber);
-    _doubleFrameNumber = min(frames.size() - 1.0, _doubleFrameNumber);
-
-    int f = frameNumber();
-    const LogFrame& currentFrame = *frames[f];
-
-    ui.timeSlider->setValue(f);
-
-    // Copy recent history into the FieldView
-    int n = min(f, (int)_history.size());
-    for (int i = 0; i < n; ++i) {
-        _history[i] = frames[f - i];
-    }
-    for (int i = n; i < (int)_history.size(); ++i) {
-        _history[i].reset();
-    }
-
-    // Update non-message tree items
-    _frameNumberItem->setData(ProtobufTree::Column_Value, Qt::DisplayRole, frameNumber());
-    int elapsedMillis = (currentFrame.command_time() - frames[0]->command_time() + 500) / 1000;
-    QTime elapsedTime = QTime::fromMSecsSinceStartOfDay(elapsedMillis);
-    _elapsedTimeItem->setText(ProtobufTree::Column_Value, elapsedTime.toString("hh:mm:ss.zzz"));
-
-    // Sort the tree by tag if items have been added
-    if (ui.tree->message(currentFrame)) {
-        // Items have been added, so sort again on tag number
-        ui.tree->sortItems(ProtobufTree::Column_Tag, Qt::AscendingOrder);
-    }
-
-    ui.fieldView->update();
-}
-
-void LogViewer::on_action0_triggered() { ui.fieldView->rotate(0); }
-
-void LogViewer::on_action90_triggered() { ui.fieldView->rotate(1); }
-
-void LogViewer::on_action180_triggered() { ui.fieldView->rotate(2); }
-
-void LogViewer::on_action270_triggered() { ui.fieldView->rotate(3); }
-
-void LogViewer::on_actionCoords_toggled(bool state) {
-    ui.fieldView->showCoords = state;
-    ui.fieldView->update();
-}
-
-void LogViewer::on_timeSlider_sliderPressed() { ui.playbackRate->setValue(0); }
-
-void LogViewer::on_timeSlider_sliderMoved(int value) { frameNumber(value); }
-
-void LogViewer::on_playbackRate_sliderReleased() {
-    // Center the slider and stop playback
-    ui.playbackRate->setValue(0);
-}
-
-void LogViewer::on_logNext_clicked() {
-    ui.playbackRate->setValue(0);
-    frameNumber(frameNumber() + 1);
-}
-
-void LogViewer::on_logPrev_clicked() {
-    ui.playbackRate->setValue(0);
-    frameNumber(frameNumber() - 1);
-}
-
-void LogViewer::on_logBeginning_clicked() { frameNumber(0); }
-
-void LogViewer::on_logEnd_clicked() { frameNumber(frames.size() - 1); }
diff --git a/src/rj_ui/src/log_viewer_main.cpp b/src/rj_ui/src/log_viewer_main.cpp
deleted file mode 100644
index cb05d16b39a..00000000000
--- a/src/rj_ui/src/log_viewer_main.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-#include <algorithm>
-#include <cstdio>
-#include <vector>
-
-#include <QApplication>
-#include <QFile>
-#include <QTime>
-#include <QTimer>
-#include <google/protobuf/io/zero_copy_stream_impl.h>
-
-#include <fcntl.h>
-#include <rj_protos/LogFrame.pb.h>
-#include <rj_ui/log_viewer.hpp>
-#include <ui_LogViewer.h>
-
-using namespace std;
-using namespace boost;
-using namespace Packet;
-using namespace google::protobuf::io;
-
-void usage(const char* prog) {
-    fprintf(stderr, "Usage: %s <filename.log>\n", prog);
-    exit(1);
-}
-
-int main(int argc, char* argv[]) {
-    QApplication app(argc, argv);
-
-    if (argc != 2) {
-        usage(argv[0]);
-    }
-
-    LogViewer win;
-
-    win.readFrames(argv[1]);
-    win.showMaximized();
-
-    return QApplication::exec();
-}
\ No newline at end of file
diff --git a/src/rj_ui/src/main.cpp b/src/rj_ui/src/main.cpp
index 1e139f20b40..9c356147fa6 100644
--- a/src/rj_ui/src/main.cpp
+++ b/src/rj_ui/src/main.cpp
@@ -32,10 +32,8 @@ void usage(const char* prog) {
     std::cerr << "\t-s <seed>:    set random seed (hexadecimal)\n";
     std::cerr << "\t-pbk <file>:  playbook file name as contained in "
                  "'soccer/gameplay/playbooks/'\n";
-    std::cerr << "\t-vlog <file>: view <file> instead of launching normally\n";
     std::cerr << "\t-ng:          no goalie\n";
     std::cerr << "\t-sim:         use simulator\n";
-    std::cerr << "\t-nolog:       don't write log files\n";
     std::cerr << "\t-noref:       don't use external referee commands\n";
     std::cerr << "\t-defend:      specify half of field to defend (plus or minus)\n";
     std::exit(0);
@@ -65,12 +63,10 @@ int main(int argc, char* argv[]) {
     QString cfg_file;
     vector<const char*> play_dirs;
     bool sim = false;
-    bool log = true;
     QString radio_freq;
     string playbook_file;
     bool noref = false;
     bool defend_plus = false;
-    string read_log_file;
 
     for (int i = 1; i < argc; ++i) {
         const char* var = argv[i];
@@ -87,8 +83,6 @@ int main(int argc, char* argv[]) {
             blue_team = true;
         } else if (strcmp(var, "-sim") == 0) {
             sim = true;
-        } else if (strcmp(var, "-nolog") == 0) {
-            log = false;
         } else if (strcmp(var, "-freq") == 0) {
             if (i + 1 >= argc) {
                 printf("No radio frequency specified after -freq\n");
@@ -120,13 +114,6 @@ int main(int argc, char* argv[]) {
             }
 
             playbook_file = argv[++i];
-        } else if (strcmp(var, "-vlog") == 0) {
-            if (i + 1 >= argc) {
-                printf("no log file specified after -vlog\n");
-                usage(argv[0]);
-            }
-
-            read_log_file = argv[++i];
         } else if (strcmp(var, "-noref") == 0) {
             noref = true;
         } else if (strcmp(var, "-defend") == 0) {
@@ -169,7 +156,7 @@ int main(int argc, char* argv[]) {
 
     start_global_param_provider("soccer", kGlobalParamServerNode);
 
-    auto processor = std::make_unique<Processor>(sim, blue_team, read_log_file);
+    auto processor = std::make_unique<Processor>(sim, blue_team);
 
     Context* context = processor->context();
     context->game_settings.simulation = sim;
@@ -177,28 +164,11 @@ int main(int argc, char* argv[]) {
     context->game_settings.defend_plus_x = defend_plus;
     context->game_settings.request_goalie_id = 0;
 
-    // If we're reading a log file, we should start off paused.
-    context->game_settings.paused = !read_log_file.empty();
-
     auto win = std::make_unique<MainWindow>(processor.get(), !noref);
     win->initialize();
 
     win->setUseRefChecked(!noref);
 
-    if (!application_run_directory().exists("./logs")) {
-        cerr << "No ./run/logs/ directory - not writing log file" << endl;
-    } else if (!log) {
-        cerr << "Not writing log file" << endl;
-    } else if (read_log_file.empty()) {
-        QString log_file = application_run_directory().filePath("./logs/") +
-                           QDateTime::currentDateTime().toString("yyyyMMdd-hhmmss.log");
-        if (!processor->open_log(log_file)) {
-            printf("Failed to open %s: %m\n", (const char*)log_file.toLatin1());
-        }
-    }
-
-    win->logFileChanged();
-
     std::thread processor_thread(&Processor::run, processor.get());
 
     while (!processor->is_initialized()) {  // Wait until processor finishes initializing
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index 1159da0f5b9..53e8b262329 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -49,7 +49,6 @@
 using namespace std;
 using namespace boost;
 using namespace google::protobuf;
-using namespace Packet;
 using namespace Eigen;
 
 constexpr int kHistorySize = 60 * 2;
@@ -66,8 +65,7 @@ void calcMinimumWidth(QWidget* widget, const QString& text) {
 
 MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* parent)
     : QMainWindow(parent),
-      _updateCount(0),
-      _doubleFrameNumber(-1),
+    _updateCount(0),
       _lastUpdateTime(RJ::now()),
       _processor(processor),
       context_(processor->context()),
@@ -77,19 +75,15 @@ MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* par
 
     qRegisterMetaType<QVector<int>>("QVector<int>");
     _ui.setupUi(this);
-    _ui.fieldView->history(&_history);
-
-    _ui.logTree->history(&_longHistory);
-    _ui.logTree->mainWindow = this;
-    _ui.logTree->updateTimer = &updateTimer;
-
-    // Initialize live/non-live control styles
-
-    _logFile = new QLabel(this);
-    _logFile->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
-    _logFile->setToolTip("Log File");
-    statusBar()->addPermanentWidget(_logFile);
-
+    _ui.logTree->setVisible(false);
+    _ui.logHistoryLocation->setVisible(false);
+    _ui.logPlaybackRewind->setVisible(false);
+    _ui.logPlaybackPrevFrame->setVisible(false);
+    _ui.logPlaybackPause->setVisible(false);
+    _ui.logPlaybackNextFrame->setVisible(false);
+    _ui.logPlaybackPlay->setVisible(false);
+    _ui.logPlaybackLive->setVisible(false);
+    _ui.actionStart_Logging->setVisible(false);
     _viewFPS = new QLabel(this);
     _viewFPS->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
     _viewFPS->setToolTip("Display Framerate");
@@ -102,21 +96,6 @@ MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* par
     calcMinimumWidth(_procFPS, "Proc: 00.0 fps");
     statusBar()->addPermanentWidget(_procFPS);
 
-    _logMemory = new QLabel(this);
-    _logMemory->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
-    _logMemory->setToolTip("Log Memory Usage");
-    _logMemory->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-    calcMinimumWidth(_logMemory, "Log: 000000/000000 000000 kiB");
-    statusBar()->addPermanentWidget(_logMemory);
-
-    _frameNumberItem = new QTreeWidgetItem(_ui.logTree);
-    _frameNumberItem->setText(ProtobufTree::Column_Field, "Frame");
-    _frameNumberItem->setData(ProtobufTree::Column_Tag, Qt::DisplayRole, -2);
-
-    _elapsedTimeItem = new QTreeWidgetItem(_ui.logTree);
-    _elapsedTimeItem->setText(ProtobufTree::Column_Field, "Elapsed Time");
-    _elapsedTimeItem->setData(ProtobufTree::Column_Tag, Qt::DisplayRole, -1);
-
     _ui.debugLayers->setContextMenuPolicy(Qt::CustomContextMenu);
 
     QActionGroup* teamGroup = new QActionGroup(this);
@@ -157,14 +136,6 @@ MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* par
     connect(_ui.manualID, SIGNAL(currentIndexChanged(int)), this,
             SLOT(on_manualID_currentIndexChanged(int)));
 
-    // put all log playback buttons into a vector for easy access later
-    _logPlaybackButtons.push_back(_ui.logPlaybackRewind);
-    _logPlaybackButtons.push_back(_ui.logPlaybackPrevFrame);
-    _logPlaybackButtons.push_back(_ui.logPlaybackPause);
-    _logPlaybackButtons.push_back(_ui.logPlaybackNextFrame);
-    _logPlaybackButtons.push_back(_ui.logPlaybackPlay);
-    _logPlaybackButtons.push_back(_ui.logPlaybackLive);
-
     // Get the item model from the goalieID boxes so we can disable them
     // properly
     goalieModel = qobject_cast<const QStandardItemModel*>(_ui.goalieID->model());
@@ -226,8 +197,6 @@ void MainWindow::initialize() {
 
     populate_override_position_dropdowns();
 
-    logFileChanged();
-
     // Initialize to ui defaults
     on_goalieID_currentIndexChanged(_ui.goalieID->currentIndex());
 
@@ -252,26 +221,6 @@ void MainWindow::initialize() {
         _ui.actionDefendMinusX->setChecked(true);
     }
 
-    // If we're reading logs, we should already have some data. Update frames
-    // for all of it.
-    for (const auto& frame : context_->logs.frames) {
-        updateDebugLayers(*frame);
-    }
-
-    if (context_->logs.state == Logs::State::kReading) {
-        _playbackRate = 0;
-    }
-}
-
-void MainWindow::logFileChanged() {
-    if (context_->logs.state == Logs::State::kWriting) {
-        QString filename_q = QString::fromStdString(context_->logs.filename.value());
-        _logFile->setText(filename_q);
-        _ui.actionStart_Logging->setText(QString("Already Logging to: ") + filename_q);
-        _ui.actionStart_Logging->setEnabled(false);
-    } else {
-        _logFile->setText("Not Recording");
-    }
 }
 
 void MainWindow::addLayer(int i, const QString& name, bool checked) {
@@ -321,6 +270,34 @@ void MainWindow::updateFromRefPacket(bool haveExternalReferee) {
 }
 
 void MainWindow::updateViews() {
+    {
+        std::lock_guard<std::mutex> lock(*context__mutex);
+        _history.clear();
+        _history.push_back(std::make_shared<rj_ui::LiveFrame>(
+            rj_ui::LiveFrame::from_context(*context_)));
+    }
+    _ui.fieldView->history(&_history);
+    _ui.fieldView->live = true;
+    _ui.fieldView->update();
+
+    ++_updateCount;
+    if (_updateCount == 4) {
+        _updateCount = 0;
+        const RJ::Time now = RJ::now();
+        const auto delta = now - _lastUpdateTime;
+        _lastUpdateTime = now;
+        _viewFPS->setText(QString("View: %1 fps").arg((RJ::Seconds(1) / delta), 0, 'f', 1));
+        _procFPS->setText(QString("Proc: %1 fps").arg(_processor->framerate(), 0, 'f', 1));
+    }
+
+    _ui.behaviorTree->setPlainText(QString::fromStdString(context_->behavior_tree));
+    _ui.refCommand->setText(QString::fromStdString(context_->play_state.get_human_readout()));
+    updateStatus();
+    updateTimer.start(20);
+}
+
+#if 0
+void MainWindow::updateViews_removed() {
     // TODO(Kyle): Re-enable manual control
 #if MANUAL
     int manual = context_->game_settings.joystick_config.manualID;
@@ -631,6 +608,8 @@ void MainWindow::updateViews() {
     updateTimer.start(20);
 }
 
+#endif
+
 void MainWindow::updateStatus() {
     // Guidelines:
     //    Status_Fail is used for severe, usually external, errors such as
@@ -749,12 +728,6 @@ void MainWindow::updateStatus() {
         return;
     }
 
-    if (!sim && context_->logs.state != Logs::State::kWriting) {
-        // We should record logs during competition
-        status("NOT RECORDING", StatusType::Status_Warning);
-        return;
-    }
-
     status("COMPETITION", StatusType::Status_OK);
 }
 
@@ -931,6 +904,7 @@ void MainWindow::on_actionRestartUpdateTimer_triggered() {
     updateTimer.start(30);
 }
 
+#if 0
 void MainWindow::on_actionStart_Logging_triggered() {
     if (context_->logs.state != Logs::State::kWriting) {
         if (!QDir("logs").exists()) {
@@ -951,24 +925,6 @@ void MainWindow::on_actionStart_Logging_triggered() {
 
 // Gameplay commands
 
-void MainWindow::on_actionSeed_triggered() {
-    QString text = QInputDialog::getText(this, "Set Random Seed", "Hexadecimal seed:");
-    if (!text.isNull()) {
-        long seed = strtol(text.toLatin1(), nullptr, 16);
-        printf("seed %016lx\n", seed);
-        srand48(seed);
-    }
-}
-
-// Joystick settings
-void MainWindow::on_joystickKickOnBreakBeam_stateChanged() {
-#if MANUAL
-    std::lock_guard<std::mutex> lock(*context__mutex);
-    context_->game_settings.joystick_config.useKickOnBreakBeam =
-        _ui.joystickKickOnBreakBeam->checkState() == Qt::CheckState::Checked;
-#endif
-}
-
 // choose between kick on break beam and immeditate
 
 // Log controls
@@ -1020,6 +976,25 @@ void MainWindow::on_logPlaybackPlay_clicked() {
 
 void MainWindow::on_logPlaybackLive_clicked() { setLive(); }
 
+#endif
+
+void MainWindow::on_actionSeed_triggered() {
+    QString text = QInputDialog::getText(this, "Set Random Seed", "Hexadecimal seed:");
+    if (!text.isNull()) {
+        long seed = strtol(text.toLatin1(), nullptr, 16);
+        printf("seed %016lx\n", seed);
+        srand48(seed);
+    }
+}
+
+void MainWindow::on_joystickKickOnBreakBeam_stateChanged() {
+#if MANUAL
+    std::lock_guard<std::mutex> lock(*context__mutex);
+    context_->game_settings.joystick_config.useKickOnBreakBeam =
+        _ui.joystickKickOnBreakBeam->checkState() == Qt::CheckState::Checked;
+#endif
+}
+
 void MainWindow::on_actionTeamBlue_triggered() {
     _ui.team->setText("BLUE");
     _ui.team->setStyleSheet("background-color: #4040ff; color: #ffffff");
@@ -1172,7 +1147,8 @@ void MainWindow::on_fastPenaltyYellow_clicked() {
     queued_command_ = setup_penalty_state.advanced_from_normal_start();
 }
 
-bool MainWindow::live() { return !_playbackRate; }
+#if 0
+bool MainWindow::live() { return true; }
 void MainWindow::updateDebugLayers(const LogFrame& frame) {
     // Check if any debug layers have been added
     // (layers should never be removed)
@@ -1188,6 +1164,7 @@ void MainWindow::updateDebugLayers(const LogFrame& frame) {
         _ui.debugLayers->sortItems();
     }
 }
+#endif
 
 /**
  * The following methods are event listeners for the manual position assignments.
diff --git a/src/rj_ui/src/processor.cpp b/src/rj_ui/src/processor.cpp
index 8e951458ffd..2324d9c77e3 100644
--- a/src/rj_ui/src/processor.cpp
+++ b/src/rj_ui/src/processor.cpp
@@ -7,8 +7,7 @@ using namespace google::protobuf;
 // TODO: Remove this and just use the one in Context.
 FieldDimensions* current_dimensions = &FieldDimensions::current_dimensions;
 
-Processor::Processor(bool sim, bool blue_team, const std::string& read_log_file)
-    : read_log_file_(read_log_file), loop_mutex_() {
+Processor::Processor(bool /*sim*/, bool /*blue_team*/) : loop_mutex_() {
     // Set the logger to ros2.
     rj_utils::set_spdlog_default_ros2("processor");
 
@@ -20,8 +19,6 @@ Processor::Processor(bool sim, bool blue_team, const std::string& read_log_file)
 
     ros_executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
-    logger_ = std::make_unique<Logger>(&context_);
-
     // ROS2 temp nodes
     config_client_ = std::make_unique<ros2_temp::SoccerConfigClient>(&context_);
     referee_sub_ = std::make_unique<ros2_temp::RefereeSub>(&context_, ros_executor_.get());
@@ -34,13 +31,6 @@ Processor::Processor(bool sim, bool blue_team, const std::string& read_log_file)
     world_state_queue_ = std::make_unique<AsyncWorldStateMsgQueue>(
         "world_state_queue", vision_filter::topics::kWorldStateTopic);
 
-    if (!read_log_file.empty()) {
-        logger_->read(read_log_file);
-    }
-
-    logger_->start();
-
-    nodes_.push_back(logger_.get());
 }
 
 Processor::~Processor() { stop(); }
@@ -68,8 +58,7 @@ void Processor::run() {
         // Don't run processor while we're paused or reading logs after the
         // first cycle (we need to run one because MainWindow waits on a single
         // cycle of processor to initialize).
-        while (initialized_ && running_ &&
-               (context_.game_settings.paused || context_.logs.state == Logs::State::kReading)) {
+        while (initialized_ && running_ && context_.game_settings.paused) {
             std::this_thread::sleep_for(RJ::Seconds(1.0 / 60.0));
         }
 
@@ -119,13 +108,6 @@ void Processor::run() {
 
         debug_draw_sub_->run();
 
-        {
-            loop_mutex()->lock();
-            // Log this entire frame
-            logger_->run();
-            loop_mutex()->unlock();
-        }
-
         ////////////////
         // Timing
 
diff --git a/src/rj_ui/src/protobuf_tree.cpp b/src/rj_ui/src/protobuf_tree.cpp
deleted file mode 100644
index 82365386053..00000000000
--- a/src/rj_ui/src/protobuf_tree.cpp
+++ /dev/null
@@ -1,525 +0,0 @@
-#include "rj_ui/protobuf_tree.hpp"
-
-#include <cstdio>
-#include <iostream>
-#include <memory>
-#include <vector>
-
-#include <QContextMenuEvent>
-#include <QDockWidget>
-#include <QMainWindow>
-#include <QMenu>
-#include <QTimer>
-#include <QTreeWidget>
-#include <google/protobuf/descriptor.h>
-#include <google/protobuf/message.h>
-
-#include "rj_ui/strip_chart.hpp"
-
-using namespace std;
-using namespace google::protobuf;
-
-// Map from protobuf field ID to tree item
-using FieldMap = QMap<int, QTreeWidgetItem*>;
-Q_DECLARE_METATYPE(FieldMap)
-Q_DECLARE_METATYPE(const FieldDescriptor*)
-
-// Roles
-enum {
-    FieldMapRole = Qt::UserRole,  // Column_Tag: Holds a FieldMap for this item's children
-    IsMessageRole,                // Column_Tag: true if this item is a message
-    FieldDescriptorRole           // Column_Tag: FieldDescriptor* for this field, if
-                                  // applicable
-};
-
-ProtobufTree::ProtobufTree(QWidget* parent) : QTreeWidget(parent) {
-    _first = true;
-    _history = nullptr;
-    mainWindow = nullptr;
-    updateTimer = nullptr;
-}
-
-bool ProtobufTree::message(const google::protobuf::Message& msg) {
-    // Update items
-    bool ret = addTreeData(invisibleRootItem(), msg);
-
-    // If this was the first time items were added, resize all columns
-    if (_first && ret) {
-        _first = false;
-
-        for (int i = 0; i < columnCount(); ++i) {
-            resizeColumnToContents(i);
-        }
-
-        setColumnHidden(ProtobufTree::Column_Tag, true);
-    }
-
-    return ret;
-}
-
-bool ProtobufTree::addTreeData(QTreeWidgetItem* parent, const google::protobuf::Message& msg) {
-    const Reflection* ref = msg.GetReflection();
-
-    // Get fields in the message
-    vector<const FieldDescriptor*> fields;
-    ref->ListFields(msg, &fields);
-
-    // Get map of field numbers to child items
-    auto fieldMap = parent->data(Column_Tag, FieldMapRole).value<FieldMap>();
-
-    bool newFields = false;
-
-    // Clear data for missing fields
-    const Descriptor* desc = msg.GetDescriptor();
-    for (FieldMap::const_iterator i = fieldMap.begin(); i != fieldMap.end(); ++i) {
-        const FieldDescriptor* field = desc->FindFieldByNumber(i.key());
-        if (field == nullptr) {
-            // Field has left the descriptor - should never happen
-            printf("Lost field %s.%d\n", desc->name().c_str(), i.key());
-            continue;
-        }
-
-        QTreeWidgetItem* item = i.value();
-
-        bool hasData;
-        if (field->is_repeated()) {
-            hasData = (ref->FieldSize(msg, field) != 0);
-
-            if (!hasData && (item->childCount() != 0)) {
-                // Remove and delete children
-                for (QTreeWidgetItem* child : item->takeChildren()) {
-                    delete child;
-                }
-            }
-        } else {
-            hasData = ref->HasField(msg, field);
-        }
-
-        if (!hasData) {
-            item->setText(Column_Value, QString());
-            item->setData(Column_Value, Qt::CheckStateRole, QVariant());
-        }
-    }
-
-    for (const FieldDescriptor* field : fields) {
-        // Get the item for this field if the field has been seen before
-        QTreeWidgetItem* item;
-        FieldMap::iterator fieldIter = fieldMap.find(field->number());
-        if (fieldIter != fieldMap.end()) {
-            // Field is already in parent
-            item = *fieldIter;
-        } else {
-            // New field
-            item = new QTreeWidgetItem(parent);
-            fieldMap.insert(field->number(), item);
-
-            item->setFlags(Qt::ItemIsSelectable | Qt::ItemIsEnabled);
-            parent->setData(Column_Tag, FieldMapRole, QVariant::fromValue<FieldMap>(fieldMap));
-            item->setData(Column_Tag, Qt::DisplayRole, field->number());
-            item->setData(Column_Tag, FieldDescriptorRole, QVariant::fromValue(field));
-            item->setText(Column_Field, QString::fromStdString(field->name()));
-
-            if (field->type() == FieldDescriptor::TYPE_MESSAGE && !field->is_repeated()) {
-                // Singular messages are expanded by default
-                expandItem(item);
-            }
-
-            newFields = true;
-        }
-
-        if (field->is_repeated()) {
-            // Repeated field
-            int n = ref->FieldSize(msg, field);
-
-            // Show the number of elements as the value for the field itself
-            item->setData(Column_Value, Qt::DisplayRole, n);
-
-            // Make sure we have enough children
-            int children = item->childCount();
-            if (children < n) {
-                // Add children
-                for (int i = children; i < n; ++i) {
-                    auto* child = new QTreeWidgetItem(item);
-                    child->setText(Column_Field, QString("[%1]").arg(i));
-
-                    child->setData(Column_Tag, FieldDescriptorRole, field != nullptr);
-
-                    // For repeated items, the tag column holds the index in the
-                    // field
-                    child->setData(Column_Tag, Qt::DisplayRole, i);
-
-                    // A FieldMap is not used here because the items don't
-                    // actually have tags. The item's position in its parent is
-                    // its position in the repeated field.
-                }
-
-                newFields = true;
-            } else if (children > n) {
-                // Remove excess children
-                // Internally, QTreeWidgetItem stores a QList of children.
-                // Hopefully this is efficient.
-                QList<QTreeWidgetItem*> kids = item->takeChildren();
-                for (int i = 0; i < (children - n); ++i) {
-                    delete kids.back();
-                    kids.pop_back();
-                }
-                item->addChildren(kids);
-            }
-
-            // Set data for children
-            for (int i = 0; i < n; ++i) {
-                QTreeWidgetItem* child = item->child(i);
-
-                switch (field->type()) {
-                    case FieldDescriptor::TYPE_INT32:
-                    case FieldDescriptor::TYPE_SINT32:
-                    case FieldDescriptor::TYPE_FIXED32:
-                    case FieldDescriptor::TYPE_SFIXED32:
-                        child->setData(Column_Value, Qt::DisplayRole,
-                                       ref->GetRepeatedInt32(msg, field, i));
-                        break;
-
-                    case FieldDescriptor::TYPE_INT64:
-                    case FieldDescriptor::TYPE_SINT64:
-                    case FieldDescriptor::TYPE_FIXED64:
-                    case FieldDescriptor::TYPE_SFIXED64:
-                        child->setData(Column_Value, Qt::DisplayRole,
-                                       (qlonglong)ref->GetRepeatedInt64(msg, field, i));
-                        break;
-
-                    case FieldDescriptor::TYPE_UINT32:
-                        child->setData(Column_Value, Qt::DisplayRole,
-                                       ref->GetRepeatedUInt32(msg, field, i));
-                        break;
-
-                    case FieldDescriptor::TYPE_UINT64:
-                        child->setData(Column_Value, Qt::DisplayRole,
-                                       (qulonglong)ref->GetRepeatedUInt64(msg, field, i));
-                        break;
-
-                    case FieldDescriptor::TYPE_FLOAT:
-                        child->setData(Column_Value, Qt::DisplayRole,
-                                       ref->GetRepeatedFloat(msg, field, i));
-                        break;
-
-                    case FieldDescriptor::TYPE_DOUBLE:
-                        child->setData(Column_Value, Qt::DisplayRole,
-                                       ref->GetRepeatedDouble(msg, field, i));
-                        break;
-
-                    case FieldDescriptor::TYPE_BOOL:
-                        child->setCheckState(Column_Value, ref->GetRepeatedBool(msg, field, i)
-                                                               ? Qt::Checked
-                                                               : Qt::Unchecked);
-                        break;
-
-                    case FieldDescriptor::TYPE_ENUM: {
-                        const EnumValueDescriptor* ev = ref->GetRepeatedEnum(msg, field, i);
-                        child->setText(Column_Value, QString::fromStdString(ev->name()));
-                        break;
-                    }
-
-                    case FieldDescriptor::TYPE_STRING:
-                        child->setText(Column_Value, QString::fromStdString(
-                                                         ref->GetRepeatedString(msg, field, i)));
-                        break;
-
-                    case FieldDescriptor::TYPE_MESSAGE:
-                        child->setData(Column_Tag, IsMessageRole, true);
-                        newFields |= addTreeData(child, ref->GetRepeatedMessage(msg, field, i));
-                        break;
-
-                    case FieldDescriptor::TYPE_BYTES:
-                        addBytes(child, ref->GetRepeatedString(msg, field, i));
-                        break;
-
-                    default:
-                        child->setText(Column_Value, QString("??? %1").arg(field->type()));
-                        break;
-                }
-            }
-        } else {
-            switch (field->type()) {
-                case FieldDescriptor::TYPE_INT32:
-                case FieldDescriptor::TYPE_SINT32:
-                case FieldDescriptor::TYPE_FIXED32:
-                case FieldDescriptor::TYPE_SFIXED32:
-                    item->setData(Column_Value, Qt::DisplayRole, ref->GetInt32(msg, field));
-                    break;
-
-                case FieldDescriptor::TYPE_INT64:
-                case FieldDescriptor::TYPE_SINT64:
-                case FieldDescriptor::TYPE_FIXED64:
-                case FieldDescriptor::TYPE_SFIXED64:
-                    item->setData(Column_Value, Qt::DisplayRole,
-                                  (qlonglong)ref->GetInt64(msg, field));
-                    break;
-
-                case FieldDescriptor::TYPE_UINT32:
-                    item->setData(Column_Value, Qt::DisplayRole, ref->GetUInt32(msg, field));
-                    break;
-
-                case FieldDescriptor::TYPE_UINT64:
-                    item->setData(Column_Value, Qt::DisplayRole,
-                                  (qulonglong)ref->GetUInt64(msg, field));
-                    break;
-
-                case FieldDescriptor::TYPE_FLOAT:
-                    item->setData(Column_Value, Qt::DisplayRole, ref->GetFloat(msg, field));
-                    break;
-
-                case FieldDescriptor::TYPE_DOUBLE:
-                    item->setData(Column_Value, Qt::DisplayRole, ref->GetDouble(msg, field));
-                    break;
-
-                case FieldDescriptor::TYPE_BOOL:
-                    item->setCheckState(Column_Value,
-                                        ref->GetBool(msg, field) ? Qt::Checked : Qt::Unchecked);
-                    break;
-
-                case FieldDescriptor::TYPE_ENUM: {
-                    const EnumValueDescriptor* ev = ref->GetEnum(msg, field);
-                    item->setText(Column_Value, QString::fromStdString(ev->name()));
-                    break;
-                }
-
-                case FieldDescriptor::TYPE_STRING:
-                    item->setText(Column_Value, QString::fromStdString(ref->GetString(msg, field)));
-                    break;
-
-                case FieldDescriptor::TYPE_MESSAGE:
-                    item->setData(Column_Tag, IsMessageRole, true);
-                    newFields |= addTreeData(item, ref->GetMessage(msg, field));
-                    break;
-
-                case FieldDescriptor::TYPE_BYTES:
-                    addBytes(item, ref->GetString(msg, field));
-                    break;
-
-                default:
-                    item->setText(Column_Value, QString("??? %1").arg(field->type()));
-                    break;
-            }
-        }
-    }
-
-    return newFields;
-}
-
-void ProtobufTree::addBytes(QTreeWidgetItem* parent, const std::string& bytes) {
-    int n = bytes.size();
-    parent->setText(Column_Value, QString("%1 bytes").arg(n));
-
-    int children = parent->childCount();
-    if (children < n) {
-        // Add children
-        for (int i = children; i < n; ++i) {
-            auto* child = new QTreeWidgetItem(parent);
-            child->setText(Column_Field, QString("[%1]").arg(i));
-
-            // For bytes, the tag column holds the index in the field
-            child->setData(Column_Tag, Qt::DisplayRole, i);
-        }
-    } else if (children > n) {
-        // Remove children
-        for (int i = n; i < children; ++i) {
-            parent->removeChild(parent->child(i));
-        }
-    }
-
-    // Set data
-    for (int i = 0; i < n; ++i) {
-        QTreeWidgetItem* item = parent->child(i);
-        QString text;
-        text.sprintf("0x%02x", bytes[i]);
-        item->setText(Column_Value, text);
-    }
-}
-
-void ProtobufTree::expandMessages(QTreeWidgetItem* item) {
-    if (item == nullptr) {
-        item = invisibleRootItem();
-    }
-
-    expandItem(item);
-
-    for (int i = 0; i < item->childCount(); ++i) {
-        QTreeWidgetItem* child = item->child(i);
-
-        if (child->data(Column_Tag, IsMessageRole).toBool()) {
-            expandMessages(child);
-        }
-    }
-}
-
-void ProtobufTree::expandSubtree(QTreeWidgetItem* item) {
-    expandItem(item);
-    for (int i = 0; i < item->childCount(); ++i) {
-        QTreeWidgetItem* child = item->child(i);
-        expandSubtree(child);
-    }
-}
-
-void ProtobufTree::collapseSubtree(QTreeWidgetItem* item) {
-    collapseItem(item);
-    for (int i = 0; i < item->childCount(); ++i) {
-        QTreeWidgetItem* child = item->child(i);
-        collapseSubtree(child);
-    }
-}
-
-void ProtobufTree::contextMenuEvent(QContextMenuEvent* e) {
-    QMenu menu;
-
-    QAction *expandItemAction = nullptr, *collapseItemAction = nullptr;
-    QTreeWidgetItem* item = itemAt(e->pos());
-    if (item != nullptr) {
-        expandItemAction = menu.addAction("Expand");
-        collapseItemAction = menu.addAction("Collapse");
-        menu.addSeparator();
-    }
-
-    QAction* expandMessagesAction = menu.addAction("Expand Only Messages");
-    menu.addSeparator();
-
-    QAction* expandAction = menu.addAction("Expand All");
-    QAction* collapseAction = menu.addAction("Collapse All");
-    menu.addSeparator();
-
-    QAction* showTags = menu.addAction("Show tags");
-    showTags->setCheckable(true);
-    showTags->setChecked(!isColumnHidden(Column_Tag));
-
-    menu.addSeparator();
-
-    QAction* chartAction = nullptr;
-    QAction* exportAction = nullptr;
-    QList<QAction*> chartMenuActions;
-
-    QList<QDockWidget*> dockWidgets;
-    const FieldDescriptor* field = nullptr;
-    if ((mainWindow != nullptr) && (item != nullptr)) {
-        field = item->data(Column_Tag, FieldDescriptorRole).value<const FieldDescriptor*>();
-        if (field != nullptr) {
-            int t = field->type();
-            if (t == FieldDescriptor::TYPE_FLOAT || t == FieldDescriptor::TYPE_DOUBLE ||
-                (t == FieldDescriptor::TYPE_MESSAGE && field->message_type()->name() == "Point")) {
-                dockWidgets = mainWindow->findChildren<QDockWidget*>();
-                if (!dockWidgets.isEmpty()) {
-                    QMenu* chartMenu = menu.addMenu("Chart");
-                    chartAction = chartMenu->addAction("New Chart");
-                    exportAction = chartMenu->addAction("Export Chart");
-                    chartMenu->addSeparator();
-                    for (int i = 0; i < dockWidgets.size(); ++i) {
-                        chartMenuActions.append(chartMenu->addAction(
-                            QString("Add to '%1'").arg(dockWidgets[0]->windowTitle())));
-                    }
-                } else {
-                    chartAction = menu.addAction("New Chart");
-                }
-            }
-        }
-    }
-
-    QAction* act = menu.exec(mapToGlobal(e->pos()));
-    if (act == expandMessagesAction) {
-        collapseAll();
-        expandMessages();
-    } else if (act == expandAction) {
-        expandAll();
-    } else if (act == collapseAction) {
-        collapseAll();
-    } else if (act == showTags) {
-        setColumnHidden(Column_Tag, !showTags->isChecked());
-    } else if ((expandItemAction != nullptr) && act == expandItemAction) {
-        expandSubtree(item);
-    } else if ((collapseItemAction != nullptr) && act == collapseItemAction) {
-        collapseSubtree(item);
-    } else if ((chartAction != nullptr) && act == chartAction) {
-        // Find the path from LogFrame to the chosen item
-        QVector<int> path;
-        QStringList names;
-        for (QTreeWidgetItem* i = item; i != nullptr; i = i->parent()) {
-            int tag = i->data(Column_Tag, Qt::DisplayRole).toInt();
-            path.push_back(tag);
-            names.append(i->text(Column_Field));
-        }
-
-        reverse(path.begin(), path.end());
-        reverse(names.begin(), names.end());
-
-        auto* dock = new QDockWidget(names.join("."), mainWindow);
-        auto* chart = new StripChart(dock);
-        chart->history(_history);
-
-        if (field->type() == FieldDescriptor::TYPE_MESSAGE) {
-            auto* f = new Chart::PointMagnitude;
-            f->path = path;
-            f->name = names.join(".");
-            chart->function(f);
-        } else {
-            auto* f = new Chart::NumericField;
-            f->path = path;
-            f->name = names.join(".");
-            chart->function(f);
-        }
-        dock->setAttribute(Qt::WA_DeleteOnClose);
-        dock->setWidget(chart);
-        mainWindow->addDockWidget(Qt::BottomDockWidgetArea, dock);
-        if (updateTimer != nullptr) {
-            connect(updateTimer, SIGNAL(timeout()), chart, SLOT(update()));
-        }
-    } else if ((exportAction != nullptr) && act == exportAction) {
-        // If export button was pressed
-
-        auto* chart = new StripChart();
-        chart->history(_history);
-
-        // Loop through all open charts and add their data to one chart
-        for (auto& dockWidget : dockWidgets) {
-            auto* cChart = dynamic_cast<StripChart*>(dockWidget->widget());
-            QList<Chart::Function*> functions = cChart->getFunctions();
-            for (auto& function : functions) {
-                chart->function(function);
-            }
-        }
-
-        // export that chart
-        chart->exportChart();
-
-    } else if (!chartMenuActions.empty()) {
-        int i = chartMenuActions.indexOf(act);
-        if (i != -1) {
-            auto* chart = dynamic_cast<StripChart*>(dockWidgets[i]->widget());
-            QVector<int> path;
-            QStringList names;
-            for (QTreeWidgetItem* i = item; i != nullptr; i = i->parent()) {
-                int tag = i->data(Column_Tag, Qt::DisplayRole).toInt();
-                path.push_back(tag);
-                names.append(i->text(Column_Field));
-            }
-
-            reverse(path.begin(), path.end());
-            reverse(names.begin(), names.end());
-
-            dockWidgets[i]->setWindowTitle(dockWidgets[i]->windowTitle() + ", " + names.join("."));
-            chart->history(_history);
-
-            if (field->type() == FieldDescriptor::TYPE_MESSAGE) {
-                auto* f = new Chart::PointMagnitude;
-                f->path = path;
-                f->name = names.join(".");
-                chart->function(f);
-            } else {
-                auto* f = new Chart::NumericField;
-                f->path = path;
-                f->name = names.join(".");
-                chart->function(f);
-            }
-
-            if (updateTimer != nullptr) {
-                connect(updateTimer, SIGNAL(timeout()), chart, SLOT(update()));
-            }
-        }
-    }
-}
diff --git a/src/rj_ui/src/robot_status_widget.cpp b/src/rj_ui/src/robot_status_widget.cpp
index 72a6d3a0abd..e6bcfe20a56 100644
--- a/src/rj_ui/src/robot_status_widget.cpp
+++ b/src/rj_ui/src/robot_status_widget.cpp
@@ -4,26 +4,18 @@
 
 RobotStatusWidget::RobotStatusWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) {
     _ui.setupUi(this);
-
     setBoardID("RJ");
-
     _shellID = -2;
     setShellID(-1);
-
     _blueTeam = false;
     setBlueTeam(true);
-
     _hasRadio = true;
     setHasRadio(false);
-
     _hasVision = true;
     setHasVision(false);
-
     _batteryLevel = 1;
     setBatteryLevel(0.5);
-
     _showstopper = false;
-
     _ui.kickerIndicator->setText(QString("K"));
     _kickerState = false;
     setKickerState(false);
@@ -34,14 +26,8 @@ int RobotStatusWidget::shellID() const { return _shellID; }
 void RobotStatusWidget::setShellID(int shellID) {
     if (shellID != _shellID) {
         _shellID = shellID;
-
         _ui.robotWidget->setShellID(_shellID);
-
-        if (shellID == -1) {
-            _ui.shellID->setText(QString("?"));
-        } else {
-            _ui.shellID->setText(QString("%1").arg(shellID));
-        }
+        _ui.shellID->setText(shellID == -1 ? QString("?") : QString("%1").arg(shellID));
     }
 }
 
@@ -53,7 +39,6 @@ void RobotStatusWidget::setBlueTeam(bool blueTeam) {
 }
 
 bool RobotStatusWidget::blueTeam() const { return _blueTeam; }
-
 const QString& RobotStatusWidget::boardID() const { return _boardID; }
 
 void RobotStatusWidget::setBoardID(const QString& boardID) {
@@ -64,29 +49,17 @@ void RobotStatusWidget::setBoardID(const QString& boardID) {
 }
 
 QString RobotStatusWidget::robotModel() const { return _ui.robotModel->text(); }
-
-void RobotStatusWidget::setRobotModel(const QString& robotModel) {
-    _ui.robotModel->setText(robotModel);
-}
-
-void RobotStatusWidget::setWheelFault(int wheelIndex, bool faulty) {
-    _ui.robotWidget->setWheelFault(wheelIndex, faulty);
-}
-
-void RobotStatusWidget::setBallSenseFault(bool faulty) {
-    _ui.robotWidget->setBallSenseFault(faulty);
-}
-
+void RobotStatusWidget::setRobotModel(const QString& robotModel) { _ui.robotModel->setText(robotModel); }
+void RobotStatusWidget::setWheelFault(int wheelIndex, bool faulty) { _ui.robotWidget->setWheelFault(wheelIndex, faulty); }
+void RobotStatusWidget::setBallSenseFault(bool faulty) { _ui.robotWidget->setBallSenseFault(faulty); }
 void RobotStatusWidget::setHasBall(bool hasBall) { _ui.robotWidget->setHasBall(hasBall); }
-
 bool RobotStatusWidget::hasRadio() const { return _hasRadio; }
 
 void RobotStatusWidget::setHasRadio(bool hasRadio) {
     if (hasRadio != _hasRadio) {
         _hasRadio = hasRadio;
-
-        _ui.radioIndicator->setPixmap(QPixmap(
-            QString(hasRadio ? ":icons/radio-connected.svg" : ":icons/radio-disconnected.svg")));
+        _ui.radioIndicator->setPixmap(QPixmap(QString(
+            hasRadio ? ":icons/radio-connected.svg" : ":icons/radio-disconnected.svg")));
     }
 }
 
@@ -95,9 +68,8 @@ bool RobotStatusWidget::hasVision() const { return _hasVision; }
 void RobotStatusWidget::setHasVision(bool hasVision) {
     if (hasVision != _hasVision) {
         _hasVision = hasVision;
-
-        _ui.visionIndicator->setPixmap(QPixmap(
-            QString(hasVision ? ":icons/vision-available.svg" : ":icons/vision-unavailable.svg")));
+        _ui.visionIndicator->setPixmap(QPixmap(QString(
+            hasVision ? ":icons/vision-available.svg" : ":icons/vision-unavailable.svg")));
     }
 }
 
@@ -114,12 +86,8 @@ bool RobotStatusWidget::kickerState() const { return _kickerState; }
 
 void RobotStatusWidget::setKickerState(bool kickerState) {
     _kickerState = kickerState;
-
-    if (kickerState) {
-        _ui.kickerIndicator->setStyleSheet("QLabel { color : green; }");
-    } else {
-        _ui.kickerIndicator->setStyleSheet("QLabel { color : red; }");
-    }
+    _ui.kickerIndicator->setStyleSheet(kickerState ? "QLabel { color : green; }"
+                                                   : "QLabel { color : red; }");
 }
 
 void RobotStatusWidget::setShowstopper(bool showstopper) {
@@ -129,141 +97,35 @@ void RobotStatusWidget::setShowstopper(bool showstopper) {
     }
 }
 
-void RobotStatusWidget::loadFromLogFrame(const Packet::RadioRx& rx,
-                                         const std::optional<Packet::LogFrame::Robot>& maybe_robot,
-                                         bool blueTeam) {
-    // Set shell ID
-    setShellID(rx.robot_id());
-
-    // Set team
+void RobotStatusWidget::load(const RobotStatus& status, const RobotState& robot, bool blueTeam) {
+    setShellID(status.shell_id);
     setBlueTeam(blueTeam);
-
-    // set robot model
-    QString robotModel;
-    switch (rx.hardware_version()) {
-        case Packet::HardwareVersion::RJ2008:
-            robotModel = "RJ2008";
-            break;
-        case Packet::HardwareVersion::RJ2011:
-            robotModel = "RJ2011";
-            break;
-        case Packet::HardwareVersion::RJ2015:
-            robotModel = "RJ2015";
-            break;
-        case Packet::HardwareVersion::RJ2018:
-            robotModel = "RJ2018";
-            break;
-        case Packet::HardwareVersion::Simulation:
-            robotModel = "Simulation";
-            break;
-        default:
-            robotModel = "Unknown Bot";
-    }
-    setRobotModel(robotModel);
-
-    // Radio is always true if we're connected to it...
-    setHasRadio(true);
-
-    // vision status
-    bool hasVision = maybe_robot.has_value();
-    setHasVision(hasVision);
-
-    // build a list of errors to display in the widget
-    QStringList errorList;
-
-    // Each motor fault is shown as text in the error text display
-    // as well as being drawn as a red X on the graphic of a robot
-    bool hasMotorFault = false;
-    if (rx.motor_status().size() == 5) {
-        std::array<const char*, 5> motorNames = {"FL", "BL", "BR", "FR", "Dribbler"};
-
-        // Examine status of each motor (including the dribbler)
-        for (int i = 0; i < 5; ++i) {
-            bool motorFault = rx.motor_status(i) != Packet::MotorStatus::Good;
-
-            if (motorFault) {
-                errorList << QString("Motor Fault %1").arg(motorNames[i]);
-                motorFault = true;
-            }
-
-            if (i != 4) {
-                // Show wheel faults (exluding dribbler, which is index 4)
-                setWheelFault(i, motorFault);
-            } else {
-                // Dribbler fault shows up as ball sense fault.
-                setBallSenseFault(motorFault);
-            }
-
-            hasMotorFault = hasMotorFault || motorFault;
-        }
-    } else {
-        SPDLOG_ERROR("Expected 5 motors, but only {}.", rx.motor_status_size());
-        hasMotorFault = true;
-    }
-
-    // Kicker
-    bool kickerFault = true;
-    bool kickerCharging = false;
-    if (rx.has_kicker_status()) {
-        kickerFault = (rx.kicker_status() & Kicker_Enabled) == 0u;
-        kickerCharging = (rx.kicker_status() & Kicker_Charged) == 0u;
-    }
-    if (kickerFault) {
-        errorList << "Kicker Fault";
-    }
-    setKickerState(kickerCharging);
-
-    // Ball sense
-    bool ballSenseFault = true;
-    if (rx.has_ball_sense_status()) {
-        ballSenseFault = !(rx.ball_sense_status() == Packet::NoBall ||
-                           rx.ball_sense_status() == Packet::HasBall);
-    }
-    if (ballSenseFault) {
-        errorList << "Ball Sense Fault";
-    }
-    setBallSenseFault(ballSenseFault);
-
-    // FPGA
-    bool fpgaWorking = true;
-    if (rx.has_fpga_status() && rx.fpga_status() != Packet::FpgaGood) {
-        if (rx.fpga_status() == Packet::FpgaNotInitialized) {
-            errorList << "FPGA not initialized";
-        } else {
-            errorList << "FPGA error";
-        }
-        fpgaWorking = false;
-    }
-
-    // Display error text
-    setErrorText(errorList.join(", "));
-
-    // Show the ball in the robot's mouth if it has one
-    bool hasBall = rx.has_ball_sense_status() && rx.ball_sense_status() == Packet::HasBall;
-    setHasBall(hasBall);
-
-    // Convert battery voltage to a percentage and show it with the battery
-    // indicator
-    float batteryLevel = 1;
-    if (rx.has_battery()) {
-        if (rx.hardware_version() == Packet::RJ2008 || rx.hardware_version() == Packet::RJ2011) {
-            batteryLevel = static_cast<float>(kRJ2008BatteryProfile.get_charge_level(rx.battery()));
-        } else if (rx.hardware_version() == Packet::RJ2015 ||
-                   rx.hardware_version() == Packet::RJ2018) {
-            batteryLevel = static_cast<float>(kRJ2015BatteryProfile.get_charge_level(rx.battery()));
-        } else if (rx.hardware_version() == Packet::Simulation) {
-            batteryLevel = 1;
-        } else {
-            SPDLOG_ERROR("Unknown hardware revision {}, unable to calculate battery %.",
-                         rx.hardware_version());
-        }
+    setRobotModel(status.version == RobotStatus::HardwareVersion::kSimulated ? "Simulation" :
+                  status.version == RobotStatus::HardwareVersion::kFleet2018 ? "RJ2018" : "Unknown Bot");
+    setHasRadio(status.timestamp != RJ::Time{});
+    setHasVision(robot.visible);
+
+    QStringList errors;
+    bool motorFault = false;
+    for (size_t i = 0; i < status.motors_healthy.size(); ++i) {
+        const bool faulty = !status.motors_healthy[i];
+        motorFault = motorFault || faulty;
+        if (i < 4) setWheelFault(static_cast<int>(i), faulty);
+        else setBallSenseFault(faulty);
+        if (faulty) errors << QString("Motor Fault %1").arg(static_cast<int>(i));
     }
-    setBatteryLevel(batteryLevel);
 
-    // If there is an error bad enough that we should get this robot
-    // off the field, alert the user through the UI that there is a
-    // "showstopper"
-    bool showstopper = !hasVision || hasMotorFault || kickerFault || ballSenseFault ||
-                       (batteryLevel < 0.25) || !fpgaWorking;
-    setShowstopper(showstopper);
+    const bool kickerFault = status.kicker == RobotStatus::KickerState::kFailed;
+    setKickerState(status.kicker == RobotStatus::KickerState::kCharged);
+    if (kickerFault) errors << "Kicker Fault";
+    setHasBall(status.has_ball);
+
+    const float battery = status.version == RobotStatus::HardwareVersion::kSimulated
+                              ? 1.0f
+                              : static_cast<float>(kRJ2015BatteryProfile.get_charge_level(
+                                    status.battery_voltage));
+    setBatteryLevel(battery);
+    setErrorText(errors.join(", "));
+    setShowstopper(!robot.visible || motorFault || kickerFault || battery < 0.25f ||
+                   !status.fpga_healthy);
 }
diff --git a/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp b/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
index 43b38673631..9ac132bb02b 100644
--- a/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
+++ b/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
@@ -35,16 +35,6 @@ void DebugDrawInterface::run() {
         for (const auto& pose : debug_draw->poses) {
             // TODO(#1584): Handle poses
         }
-        for (const auto& path : debug_draw->paths) {
-            auto* debug_path = context_->debug_drawer.add_debug_path();
-            for (const auto& point : path.points) {
-                auto* new_point = debug_path->add_points();
-                new_point->mutable_pos()->set_x(point.x);
-                new_point->mutable_pos()->set_y(point.y);
-
-                // TODO(#1584): Use color in trajectory
-            }
-        }
         for (const auto& text : debug_draw->debug_text) {
             context_->debug_drawer.draw_text(
                 QString::fromStdString(text.text), rj_convert::convert_from_ros(text.position),
diff --git a/src/rj_ui/src/sim_field_view.cpp b/src/rj_ui/src/sim_field_view.cpp
index 6fdde0179b6..fa3b038debd 100644
--- a/src/rj_ui/src/sim_field_view.cpp
+++ b/src/rj_ui/src/sim_field_view.cpp
@@ -18,7 +18,6 @@
 #include "rj_ui/field_view.hpp"
 
 using namespace boost;
-using namespace Packet;
 
 // Converts from meters to m/s for manually shooting the ball
 static const float ShootScale = 5;
@@ -45,17 +44,17 @@ void SimFieldView::mousePressEvent(QMouseEvent* me) {
 
     rj_geometry::Point pos = _worldToTeam * _screenToWorld * me->pos();
 
-    std::shared_ptr<LogFrame> frame = currentFrame();
+    std::shared_ptr<rj_ui::LiveFrame> frame = currentFrame();
     if (me->button() == Qt::LeftButton && frame) {
         drag_robot_ = -1;
-        for (const LogFrame::Robot& r : frame->self()) {
+        for (const rj_ui::LiveFrame::Robot& r : frame->self()) {
             if (pos.near_point(r.pos(), kRobotRadius)) {
                 drag_robot_ = r.shell();
                 drag_robot_blue_ = frame->blue_team();
                 break;
             }
         }
-        for (const LogFrame::Robot& r : frame->opp()) {
+        for (const rj_ui::LiveFrame::Robot& r : frame->opp()) {
             if (pos.near_point(r.pos(), kRobotRadius)) {
                 drag_robot_ = r.shell();
                 drag_robot_blue_ = !frame->blue_team();
@@ -155,7 +154,7 @@ void SimFieldView::drawTeamSpace(QPainter& p) {
     FieldView::drawTeamSpace(p);
 
     // Simulator drag-to-shoot
-    std::shared_ptr<LogFrame> frame = currentFrame();
+    std::shared_ptr<rj_ui::LiveFrame> frame = currentFrame();
     if (drag_mode_ == DRAG_SHOOT && frame) {
         p.setPen(QPen(Qt::white, 0.025f));
         rj_geometry::Point ball = frame->ball().pos();
diff --git a/src/rj_ui/src/strip_chart.cpp b/src/rj_ui/src/strip_chart.cpp
deleted file mode 100644
index 6d8c024ee0f..00000000000
--- a/src/rj_ui/src/strip_chart.cpp
+++ /dev/null
@@ -1,302 +0,0 @@
-#include "rj_ui/strip_chart.hpp"
-
-using namespace std;
-using namespace Packet;
-using namespace boost;
-using namespace google::protobuf;
-
-StripChart::StripChart(QWidget* /*parent*/) {
-    _history = nullptr;
-    _minValue = 0;
-    _maxValue = 1;
-    //_function = 0;
-    autoRange = true;
-    _color = Qt::yellow;
-
-    QPalette p = palette();
-    p.setColor(QPalette::Window, Qt::black);
-    setPalette(p);
-    setAutoFillBackground(true);
-
-    setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
-    setMinimumSize(100, 100);
-
-    setMouseTracking(true);
-}
-
-void StripChart::function(Chart::Function* function) {
-    if (function != nullptr) {
-        _functions.append(function);
-    }
-}
-
-void StripChart::exportChart() {
-    QString chartName = QFileDialog::getSaveFileName(this, tr("Save Chart"), "run/newChart.csv",
-                                                     tr("Csv Files(*.csv)"));
-    std::ofstream outfile(chartName.toStdString());
-
-    // output column names
-    outfile << "Time";
-    for (auto* function : _functions) {
-        outfile << ", " << function->name.toStdString();
-    }
-    outfile << std::endl;
-
-    // output data
-
-    // Get the oldest datapoint to use as the starting time
-    auto startTime = _history->at(0).get()->timestamp();
-
-    for (const auto& frame_i : *_history) {
-        if (frame_i) {
-            outfile << RJ::timestamp_to_secs(frame_i->timestamp() - startTime);
-
-            for (auto* function : _functions) {
-                float v = 0;
-
-                if (function->value(*frame_i, &v)) {
-                    outfile << "," << v;
-                }
-            }
-            outfile << std::endl;
-        }
-    }
-    outfile.close();
-}
-
-QPointF StripChart::dataPoint(int i, float value) {
-    auto x = static_cast<float>(i * width()) / static_cast<float>(chartSize);
-    auto h = static_cast<float>(height());
-    float y = h - (value - _minValue) * h / (_maxValue - _minValue);
-    return QPointF(x, y);
-}
-
-int StripChart::indexAtPoint(const QPoint& point) {
-    return chartSize - 1 - (width() - point.x()) * chartSize / width();
-}
-
-void StripChart::paintEvent(QPaintEvent* /*e*/) {
-    if (_history == nullptr || _history->empty() || _functions.isEmpty()) {
-        return;
-    }
-
-    QPainter p(this);
-
-    float newMin = _minValue;
-    float newMax = _maxValue;
-
-    auto mappedCursorPos = mapFromGlobal(QCursor::pos());
-    auto highlightedIndex = rect().contains(mappedCursorPos) ? indexAtPoint(mappedCursorPos) : -1;
-
-    auto fontHeight = QFontMetrics(p.font()).height();
-
-    // X-axis
-    {
-        p.setPen(Qt::gray);
-        QPointF pt = dataPoint(0, 0);
-        p.drawLine(pt, QPointF(0, pt.y()));
-    }
-
-    for (int x = 0; x < _functions.size(); x++) {
-        auto* function = _functions[x];
-
-        bool haveLast = false;
-        QPointF last;
-        if (x == 0) {
-            p.setPen(_color);
-        } else {
-            p.setPen(Qt::red);
-        }
-
-        int start = 0;
-        if (chartSize < _history->size()) {
-            start = static_cast<int>(_history->size()) - chartSize;
-        }
-
-        for (int i = 0; i < chartSize; ++i) {
-            float v = 0;
-            size_t hist_idx = start + i;
-            if (hist_idx < _history->size() && _history->at(hist_idx) &&
-                function->value(*_history->at(hist_idx).get(), &v)) {
-                if (autoRange) {
-                    newMin = min(newMin, v);
-                    newMax = max(newMax, v);
-                }
-
-                QPointF pt = dataPoint(i, v);
-
-                if (i == highlightedIndex) {
-                    p.drawEllipse(pt, 5, 5);
-
-                    p.drawText(mappedCursorPos + QPointF(15, 0 + fontHeight * 2 * x),
-                               (" V: " + std::to_string(v)).c_str());
-
-                    if (hist_idx > 0 && hist_idx < _history->size() - 1) {
-                        float v1 = 0;
-                        float v2 = 0;
-                        function->value(*_history->at(hist_idx - 1).get(), &v1);
-                        function->value(*_history->at(hist_idx + 1).get(), &v2);
-
-                        auto t1 = _history->at(hist_idx - 1)->timestamp();
-                        auto t2 = _history->at(hist_idx + 1)->timestamp();
-                        auto deltaTime = RJ::timestamp_to_secs(t2 - t1);
-
-                        auto derivative = (v2 - v1) / (deltaTime);
-                        p.drawText(mappedCursorPos + QPointF(15, fontHeight * (1 + x * 2)),
-                                   ("dV: " + std::to_string(derivative)).c_str());
-                    }
-                }
-
-                if (haveLast) {
-                    p.drawLine(last, pt);
-                }
-                last = pt;
-                haveLast = true;
-            } else {
-                haveLast = false;
-            }
-        }
-    }
-
-    p.drawText(0, height() - 5, std::to_string(newMin).c_str());
-    p.drawText(0, fontHeight, std::to_string(newMax).c_str());
-
-    _minValue = newMin;
-    _maxValue = newMax;
-}
-
-////////
-
-bool Chart::PointMagnitude::value(const Packet::LogFrame& frame, float* v) const {
-    const Message* msg = &frame;
-    for (int i = 0; i < path.size(); ++i) {
-        const Reflection* ref = msg->GetReflection();
-        const Descriptor* desc = msg->GetDescriptor();
-
-        int tag = path[i];
-        const FieldDescriptor* fd = desc->FindFieldByNumber(tag);
-        if (fd->type() != FieldDescriptor::TYPE_MESSAGE) {
-            SPDLOG_ERROR("Expected a message field.");
-            return false;
-        }
-
-        if (fd->is_repeated()) {
-            ++i;
-            if (i >= path.size()) {
-                SPDLOG_ERROR("Ends after tag for repeated field without giving index");
-                return false;
-            }
-            int j = path[i];
-            if (ref->FieldSize(*msg, fd) <= j) {
-                // Not enough items
-                return false;
-            }
-            msg = &ref->GetRepeatedMessage(*msg, fd, j);
-        } else {
-            if (!ref->HasField(*msg, fd)) {
-                // Missing field
-                return false;
-            }
-            msg = &ref->GetMessage(*msg, fd);
-        }
-    }
-
-    if (msg->GetDescriptor()->name() != "Point") {
-        SPDLOG_ERROR("PointMagnitude: path ended in a message other than Point");
-        return false;
-    }
-
-    *v = static_cast<float>(rj_geometry::Point(*dynamic_cast<const Packet::Point*>(msg)).mag());
-    return true;
-}
-
-bool Chart::NumericField::value(const Packet::LogFrame& frame, float* v) const {
-    const Message* msg = &frame;
-    for (int i = 0; i < path.size(); ++i) {
-        const Reflection* ref = msg->GetReflection();
-        const Descriptor* desc = msg->GetDescriptor();
-
-        int tag = path[i];
-        const FieldDescriptor* fd = desc->FindFieldByNumber(tag);
-        if (fd->type() != FieldDescriptor::TYPE_MESSAGE) {
-            if ((i == path.size() - 1 && !fd->is_repeated()) ||
-                (i == path.size() - 2 && fd->is_repeated())) {
-                // End of the path
-                if (fd->is_repeated()) {
-                    ++i;
-                    if (i >= path.size()) {
-                        SPDLOG_ERROR(
-                            "NumericField: ends after tag for "
-                            "repeated field without giving index");
-                        return false;
-                    }
-                    int j = path[i];
-                    if (ref->FieldSize(*msg, fd) <= j) {
-                        // Not enough items
-                        return false;
-                    }
-
-                    switch (fd->type()) {
-                        case FieldDescriptor::TYPE_FLOAT:
-                            *v = ref->GetRepeatedFloat(*msg, fd, j);
-                            break;
-
-                        case FieldDescriptor::TYPE_DOUBLE:
-                            *v = static_cast<float>(ref->GetRepeatedDouble(*msg, fd, j));
-                            break;
-
-                        default:
-                            SPDLOG_ERROR(
-                                "NumericField: unsupported repeated "
-                                "field type {}.",
-                                fd->type());
-                            return false;
-                    }
-                } else {
-                    switch (fd->type()) {
-                        case FieldDescriptor::TYPE_FLOAT:
-                            *v = ref->GetFloat(*msg, fd);
-                            break;
-
-                        case FieldDescriptor::TYPE_DOUBLE:
-                            *v = static_cast<float>(ref->GetDouble(*msg, fd));
-                            break;
-
-                        default:
-                            SPDLOG_ERROR("NumericField: unsupported field type {}", fd->type());
-                            return false;
-                    }
-                }
-                return true;
-            }
-            // Non-message field in the middle of a path
-            SPDLOG_ERROR("NumericField: expected a message field");
-            return false;
-        }
-
-        if (fd->is_repeated()) {
-            ++i;
-            if (i >= path.size()) {
-                SPDLOG_ERROR(
-                    "NumericField: ends after tag for repeated field "
-                    "without giving index");
-                return false;
-            }
-            int j = path[i];
-            if (ref->FieldSize(*msg, fd) <= j) {
-                // Not enough items
-                return false;
-            }
-            msg = &ref->GetRepeatedMessage(*msg, fd, j);
-        } else {
-            if (!ref->HasField(*msg, fd)) {
-                // Missing field
-                return false;
-            }
-            msg = &ref->GetMessage(*msg, fd);
-        }
-    }
-
-    // Not reached
-    return false;
-}
diff --git a/src/rj_utils/CMakeLists.txt b/src/rj_utils/CMakeLists.txt
index ce211517538..77a035ed116 100644
--- a/src/rj_utils/CMakeLists.txt
+++ b/src/rj_utils/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(rclcpp REQUIRED)
 find_package(rj_msgs REQUIRED)
 find_package(rj_convert REQUIRED)
 find_package(rj_protos REQUIRED)
+find_package(rj_geometry REQUIRED)
 find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
@@ -27,6 +28,7 @@ ament_target_dependencies(${PROJECT_NAME}
   rj_msgs
   rj_convert
   rj_protos
+  rj_geometry
 )
 
 target_link_libraries(${PROJECT_NAME}
diff --git a/src/rj_utils/include/rj_utils/log_utils.hpp b/src/rj_utils/include/rj_utils/log_utils.hpp
index e6068d3f384..2640b4e06d6 100644
--- a/src/rj_utils/include/rj_utils/log_utils.hpp
+++ b/src/rj_utils/include/rj_utils/log_utils.hpp
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <rj_protos/LogFrame.pb.h>
-
 #include <QColor>
 #include <QPointF>
 
+#include <rj_geometry/point.hpp>
+
 static inline QColor qcolor(uint32_t value) {
     uint8_t a = value >> 24;
     uint8_t r = value >> 16;
@@ -13,8 +13,8 @@ static inline QColor qcolor(uint32_t value) {
     return QColor(r, g, b, a);
 }
 
-static inline QPointF qpointf(const Packet::Point& pt) {
-    return QPointF(pt.x(), pt.y());
+static inline QPointF qpointf(const rj_geometry::Point& pt) {
+    return pt.to_q_point_f();
 }
 
 static inline uint32_t color(const QColor& color) {
diff --git a/src/rj_utils/package.xml b/src/rj_utils/package.xml
index 5eeeb1899f0..1ea3cc584ef 100644
--- a/src/rj_utils/package.xml
+++ b/src/rj_utils/package.xml
@@ -13,6 +13,7 @@
   <depend>rj_protos</depend>
   <depend>rj_convert</depend>
   <depend>rj_geometry_msgs</depend>
+  <depend>rj_geometry</depend>
 
   <build_depend>protobuf-dev</build_depend>
 

From a62701bc1f67379747914e2a7cb2e3a1f072912a Mon Sep 17 00:00:00 2001
From: sdhanyamraju6 <sdhanyamraju6@gatech.edu>
Date: Wed, 16 Sep 2026 19:32:57 -0400
Subject: [PATCH 03/21] .

---
 src/rj_common/CMakeLists.txt                  |   1 +
 .../include/rj_common/debug_drawer.hpp        |  65 ++++++---
 .../include/rj_common/debug_drawings.hpp      |  98 ++++++++++++++
 src/rj_common/src/debug_drawer.cpp            | 128 ++++++++++++++++++
 src/rj_common/src/planning/trajectory.cpp     |  11 ++
 src/rj_ui/include/rj_ui/live_frame.hpp        |  60 ++++----
 src/rj_ui/include/rj_ui/main_window.hpp       |   1 +
 src/rj_ui/src/main_window.cpp                 |  14 ++
 src/rj_ui/src/processor.cpp                   |   6 +-
 .../src/ros2_temp/debug_draw_interface.cpp    |   9 ++
 10 files changed, 333 insertions(+), 60 deletions(-)
 create mode 100644 src/rj_common/include/rj_common/debug_drawings.hpp
 create mode 100644 src/rj_common/src/debug_drawer.cpp

diff --git a/src/rj_common/CMakeLists.txt b/src/rj_common/CMakeLists.txt
index 632788f67a2..ca3e04a1417 100644
--- a/src/rj_common/CMakeLists.txt
+++ b/src/rj_common/CMakeLists.txt
@@ -37,6 +37,7 @@ set(RJ_COMMON_DEPS
 )
 
 add_library(${PROJECT_NAME} SHARED
+  src/debug_drawer.cpp
   src/field_dimensions.cpp
   src/multicast.cpp
   src/qt_utils.cpp
diff --git a/src/rj_common/include/rj_common/debug_drawer.hpp b/src/rj_common/include/rj_common/debug_drawer.hpp
index 5b814c8f1d7..252381e3297 100644
--- a/src/rj_common/include/rj_common/debug_drawer.hpp
+++ b/src/rj_common/include/rj_common/debug_drawer.hpp
@@ -6,6 +6,7 @@
 
 #include <QColor>
 #include <QMap>
+#include <QStringList>
 
 #include <rj_geometry/arc.hpp>
 #include <rj_geometry/composite_shape.hpp>
@@ -15,6 +16,8 @@
 #include <rj_geometry/shape_set.hpp>
 #include <rj_utils/log_utils.hpp>
 
+#include "rj_common/debug_drawings.hpp"
+
 struct Context;
 
 class DebugDrawer {
@@ -27,48 +30,64 @@ class DebugDrawer {
     int find_debug_layer(QString layer);
 
     /** @ingroup drawing_functions */
-    void draw_polygon(const rj_geometry::Point*, int,
-                     const QColor& = Qt::black, const QString& = QString()) {}
+    void draw_polygon(const rj_geometry::Point* pts, int n, const QColor& qc = Qt::black,
+                      const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_polygon(const std::vector<rj_geometry::Point>&,
-                     const QColor& = Qt::black, const QString& = QString()) {}
+    void draw_polygon(const std::vector<rj_geometry::Point>& pts, const QColor& qc = Qt::black,
+                      const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_polygon(const rj_geometry::Polygon&,
-                     const QColor& = Qt::black, const QString& = QString()) {}
+    void draw_polygon(const rj_geometry::Polygon& pts, const QColor& qc = Qt::black,
+                      const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_circle(rj_geometry::Point, float,
-                    const QColor& = Qt::black, const QString& = QString()) {}
+    void draw_circle(rj_geometry::Point center, float radius, const QColor& qc = Qt::black,
+                     const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_arc(const rj_geometry::Arc&, const QColor& = Qt::black,
-                 const QString& = QString()) {}
+    void draw_arc(const rj_geometry::Arc& arc, const QColor& qw = Qt::black,
+                  const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_shape(const std::shared_ptr<rj_geometry::Shape>&,
-                   const QColor& = Qt::black, const QString& = QString()) {}
+    void draw_shape(const std::shared_ptr<rj_geometry::Shape>& obs, const QColor& qw = Qt::black,
+                    const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_shape_set(const rj_geometry::ShapeSet&,
-                      const QColor& = Qt::black, const QString& = QString()) {}
+    void draw_shape_set(const rj_geometry::ShapeSet& shapes, const QColor& qw = Qt::black,
+                        const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_line(const rj_geometry::Segment&, const QColor& = Qt::black,
-                  const QString& = QString()) {}
+    void draw_line(const rj_geometry::Segment& line, const QColor& qw = Qt::black,
+                   const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_line(rj_geometry::Point, rj_geometry::Point,
-                  const QColor& = Qt::black, const QString& = QString()) {}
+    void draw_line(rj_geometry::Point p0, rj_geometry::Point p1, const QColor& qw = Qt::black,
+                   const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_text(const QString&, rj_geometry::Point,
-                  const QColor& = Qt::black, const QString& = QString()) {}
+    void draw_text(const QString& text, rj_geometry::Point pos, const QColor& qw = Qt::black,
+                   const QString& layer = QString());
 
     /** @ingroup drawing_functions */
-    void draw_segment(const rj_geometry::Segment&, const QColor& = Qt::black,
-                     const QString& = QString()) {}
+    void draw_segment(const rj_geometry::Segment& line, const QColor& qw = Qt::black,
+                      const QString& layer = QString());
+
+    /**
+     * Helper pass-through method to create a new debug path.
+     */
+    DebugRobotPath& add_debug_path() { return current_.robot_paths.emplace_back(); }
+
+    /**
+     * Snapshot this cycle's drawings for the UI and start a fresh cycle.
+     * Layer names are kept so the debug-layer list stays stable.
+     */
+    void commit_frame() {
+        published_ = std::move(current_);
+        current_.clear();
+    }
+
+    const DebugDrawFrame& published_frame() const { return published_; }
 
 private:
     /// Number of debug layers
@@ -82,4 +101,6 @@ class DebugDrawer {
 
     Context* context_;
 
+    DebugDrawFrame current_;
+    DebugDrawFrame published_;
 };
diff --git a/src/rj_common/include/rj_common/debug_drawings.hpp b/src/rj_common/include/rj_common/debug_drawings.hpp
new file mode 100644
index 00000000000..ba94ba2df09
--- /dev/null
+++ b/src/rj_common/include/rj_common/debug_drawings.hpp
@@ -0,0 +1,98 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include <rj_geometry/point.hpp>
+
+struct DebugPath {
+    int layer() const { return layer_; }
+    uint32_t color() const { return color_; }
+    int points_size() const { return static_cast<int>(points_.size()); }
+    const rj_geometry::Point& points(int i) const { return points_.at(i); }
+
+    int layer_ = -1;
+    uint32_t color_ = 0;
+    std::vector<rj_geometry::Point> points_;
+};
+
+struct DebugRobotPath {
+    struct DebugRobotPathPoint {
+        const rj_geometry::Point& pos() const { return pos_; }
+        const rj_geometry::Point& vel() const { return vel_; }
+        rj_geometry::Point& mutable_pos() { return pos_; }
+        rj_geometry::Point& mutable_vel() { return vel_; }
+
+        rj_geometry::Point pos_;
+        rj_geometry::Point vel_;
+    };
+
+    int layer() const { return layer_; }
+    void set_layer(int layer) { layer_ = layer; }
+    int points_size() const { return static_cast<int>(points_.size()); }
+    const DebugRobotPathPoint& points(int i) const { return points_.at(i); }
+    DebugRobotPathPoint& add_points() { return points_.emplace_back(); }
+
+    int layer_ = -1;
+    std::vector<DebugRobotPathPoint> points_;
+};
+
+struct DebugCircle {
+    int layer() const { return layer_; }
+    uint32_t color() const { return color_; }
+    const rj_geometry::Point& center() const { return center_; }
+    float radius() const { return radius_; }
+
+    int layer_ = -1;
+    uint32_t color_ = 0;
+    rj_geometry::Point center_;
+    float radius_ = 0;
+};
+
+struct DebugArc {
+    int layer() const { return layer_; }
+    uint32_t color() const { return color_; }
+    const rj_geometry::Point& center() const { return center_; }
+    float radius() const { return radius_; }
+    float start() const { return start_; }
+    float end() const { return end_; }
+
+    int layer_ = -1;
+    uint32_t color_ = 0;
+    rj_geometry::Point center_;
+    float radius_ = 0;
+    float start_ = 0;
+    float end_ = 0;
+};
+
+struct DebugText {
+    int layer() const { return layer_; }
+    uint32_t color() const { return color_; }
+    const rj_geometry::Point& pos() const { return pos_; }
+    const std::string& text() const { return text_; }
+    bool center() const { return center_; }
+
+    int layer_ = -1;
+    uint32_t color_ = 0;
+    rj_geometry::Point pos_;
+    std::string text_;
+    bool center_ = true;
+};
+
+struct DebugDrawFrame {
+    std::vector<DebugPath> paths;
+    std::vector<DebugPath> polygons;
+    std::vector<DebugCircle> circles;
+    std::vector<DebugArc> arcs;
+    std::vector<DebugText> texts;
+    std::vector<DebugRobotPath> robot_paths;
+
+    void clear() {
+        paths.clear();
+        polygons.clear();
+        circles.clear();
+        arcs.clear();
+        texts.clear();
+        robot_paths.clear();
+    }
+};
diff --git a/src/rj_common/src/debug_drawer.cpp b/src/rj_common/src/debug_drawer.cpp
new file mode 100644
index 00000000000..96c6bed72dd
--- /dev/null
+++ b/src/rj_common/src/debug_drawer.cpp
@@ -0,0 +1,128 @@
+#include "rj_common/debug_drawer.hpp"
+
+#include <rj_geometry/circle.hpp>
+#include <rj_geometry/rect.hpp>
+
+int DebugDrawer::find_debug_layer(QString layer) {
+    if (layer.isNull()) {
+        layer = "Debug";
+    }
+
+    QMap<QString, int>::const_iterator i = debug_layer_map_.find(layer);
+    if (i == debug_layer_map_.end()) {
+        // New layer
+        int n = num_debug_layers_++;
+        debug_layer_map_[layer] = n;
+        debug_layers_.append(layer);
+        return n;
+    }
+    // Existing layer
+    return i.value();
+}
+
+void DebugDrawer::draw_polygon(const rj_geometry::Point* pts, int n, const QColor& qc,
+                               const QString& layer) {
+    DebugPath dbg;
+    dbg.layer_ = find_debug_layer(layer);
+    dbg.color_ = color(qc);
+    dbg.points_.reserve(n);
+    for (int i = 0; i < n; ++i) {
+        dbg.points_.push_back(pts[i]);
+    }
+    current_.polygons.push_back(std::move(dbg));
+}
+
+void DebugDrawer::draw_polygon(const std::vector<rj_geometry::Point>& pts, const QColor& qc,
+                               const QString& layer) {
+    draw_polygon(pts.data(), static_cast<int>(pts.size()), qc, layer);
+}
+
+void DebugDrawer::draw_polygon(const rj_geometry::Polygon& polygon, const QColor& qc,
+                               const QString& layer) {
+    this->draw_polygon(polygon.vertices, qc, layer);
+}
+
+void DebugDrawer::draw_circle(rj_geometry::Point center, float radius, const QColor& qc,
+                              const QString& layer) {
+    DebugCircle dbg;
+    dbg.layer_ = find_debug_layer(layer);
+    dbg.center_ = center;
+    dbg.radius_ = radius;
+    dbg.color_ = color(qc);
+    current_.circles.push_back(dbg);
+}
+
+void DebugDrawer::draw_arc(const rj_geometry::Arc& arc, const QColor& qc, const QString& layer) {
+    DebugArc dbg;
+    dbg.layer_ = find_debug_layer(layer);
+    dbg.center_ = arc.center();
+    dbg.radius_ = static_cast<float>(arc.radius());
+    dbg.start_ = static_cast<float>(arc.start());
+    dbg.end_ = static_cast<float>(arc.end());
+    dbg.color_ = color(qc);
+    current_.arcs.push_back(dbg);
+}
+
+void DebugDrawer::draw_shape(const std::shared_ptr<rj_geometry::Shape>& obs, const QColor& color,
+                             const QString& layer) {
+    std::shared_ptr<rj_geometry::Circle> circ_obs =
+        std::dynamic_pointer_cast<rj_geometry::Circle>(obs);
+    std::shared_ptr<rj_geometry::Polygon> poly_obs =
+        std::dynamic_pointer_cast<rj_geometry::Polygon>(obs);
+    std::shared_ptr<rj_geometry::CompositeShape> comp_obs =
+        std::dynamic_pointer_cast<rj_geometry::CompositeShape>(obs);
+    std::shared_ptr<rj_geometry::Rect> rect_obs = std::dynamic_pointer_cast<rj_geometry::Rect>(obs);
+    if (circ_obs) {
+        draw_circle(circ_obs->center, circ_obs->radius(), color, layer);
+    } else if (poly_obs) {
+        draw_polygon(poly_obs->vertices, color, layer);
+    } else if (rect_obs) {
+        std::vector<rj_geometry::Point> points = {
+            rj_geometry::Point{rect_obs->minx(), rect_obs->miny()},
+            rj_geometry::Point{rect_obs->maxx(), rect_obs->miny()},
+            rj_geometry::Point{rect_obs->maxx(), rect_obs->maxy()},
+            rj_geometry::Point{rect_obs->minx(), rect_obs->maxy()}};
+        draw_polygon(points.data(), static_cast<int>(points.size()), color, layer);
+    } else if (comp_obs) {
+        for (const std::shared_ptr<rj_geometry::Shape>& subshape : comp_obs->subshapes()) {
+            draw_shape(subshape, color, layer);
+        }
+    }
+}
+
+void DebugDrawer::draw_shape_set(const rj_geometry::ShapeSet& shapes, const QColor& color,
+                                 const QString& layer) {
+    for (auto& shape : shapes.shapes()) {
+        draw_shape(shape, color, layer);
+    }
+}
+
+void DebugDrawer::draw_line(const rj_geometry::Segment& line, const QColor& qc,
+                            const QString& layer) {
+    DebugPath dbg;
+    dbg.layer_ = find_debug_layer(layer);
+    dbg.points_.push_back(line.pt[0]);
+    dbg.points_.push_back(line.pt[1]);
+    dbg.color_ = color(qc);
+    current_.paths.push_back(std::move(dbg));
+}
+
+void DebugDrawer::draw_line(rj_geometry::Point p0, rj_geometry::Point p1, const QColor& color,
+                            const QString& layer) {
+    draw_line(rj_geometry::Segment(p0, p1), color, layer);
+}
+
+void DebugDrawer::draw_text(const QString& text, rj_geometry::Point pos, const QColor& qc,
+                            const QString& layer) {
+    DebugText dbg;
+    dbg.layer_ = find_debug_layer(layer);
+    dbg.text_ = text.toStdString();
+    dbg.pos_ = pos;
+    dbg.color_ = color(qc);
+    current_.texts.push_back(std::move(dbg));
+}
+
+void DebugDrawer::draw_segment(const rj_geometry::Segment& line, const QColor& qc,
+                               const QString& layer) {
+    draw_line(line, qc, layer);
+}
diff --git a/src/rj_common/src/planning/trajectory.cpp b/src/rj_common/src/planning/trajectory.cpp
index 2d1a7049043..1621baf1783 100644
--- a/src/rj_common/src/planning/trajectory.cpp
+++ b/src/rj_common/src/planning/trajectory.cpp
@@ -183,6 +183,17 @@ Trajectory::Cursor Trajectory::cursor_begin() const { return Cursor{*this, insta
 
 void Trajectory::draw(DebugDrawer* drawer,
                       std::optional<rj_geometry::Point> alt_text_position) const {
+    if (instants_.size() > 1) {
+        DebugRobotPath& dbg_path = drawer->add_debug_path();
+        dbg_path.set_layer(drawer->find_debug_layer("Motion"));
+
+        for (const RobotInstant& instant : instants_) {
+            DebugRobotPath::DebugRobotPathPoint& pt = dbg_path.add_points();
+            pt.mutable_pos() = instant.pose.position();
+            pt.mutable_vel() = instant.velocity.linear();
+        }
+    }
+
     if (debug_text_) {
         rj_geometry::Point text_pos;
 
diff --git a/src/rj_ui/include/rj_ui/live_frame.hpp b/src/rj_ui/include/rj_ui/live_frame.hpp
index 21f4e9a38b3..2b2e16ef5ec 100644
--- a/src/rj_ui/include/rj_ui/live_frame.hpp
+++ b/src/rj_ui/include/rj_ui/live_frame.hpp
@@ -7,49 +7,19 @@
 #include <vector>
 
 #include <rj_common/context.hpp>
+#include <rj_common/debug_drawings.hpp>
 
 namespace rj_ui {
 
+using ::DebugArc;
+using ::DebugCircle;
+using ::DebugPath;
+using ::DebugRobotPath;
+using ::DebugText;
+
 enum BallSenseStatus { NoBall, HasBall, Dazzled, Failed };
 enum MotorStatus { Good, Fault };
 
-struct DebugPath {
-    int layer() const { return -1; }
-    int color() const { return 0; }
-    int points_size() const { return 0; }
-    rj_geometry::Point points(int) const { return {}; }
-};
-struct DebugRobotPath {
-    struct DebugRobotPathPoint {
-        rj_geometry::Point pos() const { return {}; }
-        rj_geometry::Point vel() const { return {}; }
-    };
-    int layer() const { return -1; }
-    int points_size() const { return 0; }
-    DebugRobotPathPoint points(int) const { return {}; }
-};
-struct DebugCircle {
-    int layer() const { return -1; }
-    int color() const { return 0; }
-    rj_geometry::Point center() const { return {}; }
-    float radius() const { return 0; }
-};
-struct DebugArc {
-    int layer() const { return -1; }
-    int color() const { return 0; }
-    rj_geometry::Point center() const { return {}; }
-    float radius() const { return 0; }
-    float start() const { return 0; }
-    float end() const { return 0; }
-};
-struct DebugText {
-    int layer() const { return -1; }
-    int color() const { return 0; }
-    rj_geometry::Point pos() const { return {}; }
-    std::string text() const { return {}; }
-    bool center() const { return true; }
-};
-
 struct LiveRobot {
     int shell() const { return shell_id; }
     const rj_geometry::Point& pos() const { return position; }
@@ -120,6 +90,19 @@ struct LiveFrame {
             frame.ball_state = LiveBall{context.world_state.ball.position,
                                         context.world_state.ball.velocity};
         }
+
+        const auto& drawings = context.debug_drawer.published_frame();
+        frame.debug_paths_ = drawings.paths;
+        frame.debug_robot_paths_ = drawings.robot_paths;
+        frame.debug_circles_ = drawings.circles;
+        frame.debug_arcs_ = drawings.arcs;
+        frame.debug_polygons_ = drawings.polygons;
+        frame.debug_texts_ = drawings.texts;
+        const auto& layers = context.debug_drawer.debug_layers();
+        frame.debug_layers_.reserve(layers.size());
+        for (const auto& layer : layers) {
+            frame.debug_layers_.push_back(layer.toStdString());
+        }
         return frame;
     }
 
@@ -138,6 +121,8 @@ struct LiveFrame {
     const std::vector<DebugArc>& debug_arcs() const { return debug_arcs_; }
     const std::vector<DebugPath>& debug_polygons() const { return debug_polygons_; }
     const std::vector<DebugText>& debug_texts() const { return debug_texts_; }
+    int debug_layers_size() const { return static_cast<int>(debug_layers_.size()); }
+    const std::string& debug_layers(int i) const { return debug_layers_.at(i); }
 
     const std::vector<LiveRobot>& self_robots() const { return self_; }
     const std::vector<LiveRobot>& opp_robots() const { return opp_; }
@@ -164,6 +149,7 @@ struct LiveFrame {
     std::vector<DebugArc> debug_arcs_;
     std::vector<DebugPath> debug_polygons_;
     std::vector<DebugText> debug_texts_;
+    std::vector<std::string> debug_layers_;
 };
 
 }  // namespace rj_ui
diff --git a/src/rj_ui/include/rj_ui/main_window.hpp b/src/rj_ui/include/rj_ui/main_window.hpp
index 4e1eb574da0..7e30e921b13 100644
--- a/src/rj_ui/include/rj_ui/main_window.hpp
+++ b/src/rj_ui/include/rj_ui/main_window.hpp
@@ -190,6 +190,7 @@ private Q_SLOTS:
 private:
     void updateStatus();
     void updateFromRefPacket(bool haveExternalReferee);
+    void updateDebugLayers(const rj_ui::LiveFrame& frame);
     static std::string formatLabelBold(Side side, const std::string& label);
 
     enum class StatusType { Status_OK, Status_Warning, Status_Fail };
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index 53e8b262329..1f3cd3fc15b 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -278,6 +278,7 @@ void MainWindow::updateViews() {
     }
     _ui.fieldView->history(&_history);
     _ui.fieldView->live = true;
+    updateDebugLayers(*_history.back());
     _ui.fieldView->update();
 
     ++_updateCount;
@@ -1091,6 +1092,19 @@ void MainWindow::on_debugLayers_itemChanged(QListWidgetItem* item) {
     _ui.fieldView->update();
 }
 
+void MainWindow::updateDebugLayers(const rj_ui::LiveFrame& frame) {
+    if (frame.debug_layers_size() > _ui.debugLayers->count()) {
+        for (int i = _ui.debugLayers->count(); i < frame.debug_layers_size(); ++i) {
+            const QString name = QString::fromStdString(frame.debug_layers(i));
+            bool enabled = !std::any_of(defaultHiddenLayers.begin(), defaultHiddenLayers.end(),
+                                        [&](const QString& string) { return string == name; });
+            addLayer(i, name, enabled);
+        }
+
+        _ui.debugLayers->sortItems();
+    }
+}
+
 // NOLINTNEXTLINE(readability-make-member-function-const): this modifies state
 void MainWindow::setUseRefChecked(bool /* use_ref */) {
     _ui.actionUse_Field_Oriented_Controls->setChecked(false);
diff --git a/src/rj_ui/src/processor.cpp b/src/rj_ui/src/processor.cpp
index 2324d9c77e3..d1435702836 100644
--- a/src/rj_ui/src/processor.cpp
+++ b/src/rj_ui/src/processor.cpp
@@ -106,7 +106,11 @@ void Processor::run() {
         // Processor Initialization Completed
         initialized_ = true;
 
-        debug_draw_sub_->run();
+        {
+            std::lock_guard<std::mutex> lock(loop_mutex_);
+            debug_draw_sub_->run();
+            context_.debug_drawer.commit_frame();
+        }
 
         ////////////////
         // Timing
diff --git a/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp b/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
index 9ac132bb02b..8203cd73fa6 100644
--- a/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
+++ b/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
@@ -34,6 +34,15 @@ void DebugDrawInterface::run() {
         }
         for (const auto& pose : debug_draw->poses) {
             // TODO(#1584): Handle poses
+            (void)pose;
+        }
+        for (const auto& path : debug_draw->paths) {
+            DebugRobotPath& debug_path = context_->debug_drawer.add_debug_path();
+            debug_path.set_layer(context_->debug_drawer.find_debug_layer(QString::fromStdString(layer)));
+            for (const auto& point : path.points) {
+                DebugRobotPath::DebugRobotPathPoint& new_point = debug_path.add_points();
+                new_point.mutable_pos() = rj_geometry::Point(point.x, point.y);
+            }
         }
         for (const auto& text : debug_draw->debug_text) {
             context_->debug_drawer.draw_text(

From 3d2dc18a8be113c87a06a1825cf2ceae1528c04b Mon Sep 17 00:00:00 2001
From: root <saisanat@gmail.com>
Date: Wed, 16 Sep 2026 23:01:13 -0400
Subject: [PATCH 04/21] barely works

---
 src/rj_common/include/rj_common/context.hpp   |  64 +++++
 .../include/rj_common/debug_drawings.hpp      |   2 +
 .../include/rj_common/live_frame.hpp          | 114 ++++++++
 src/rj_ui/include/rj_ui/field_view.hpp        |  15 +-
 src/rj_ui/include/rj_ui/live_frame.hpp        | 155 -----------
 src/rj_ui/include/rj_ui/main_window.hpp       |   4 +-
 src/rj_ui/include/rj_ui/processor.hpp         |   1 +
 .../include/rj_ui/robot_status_widget.hpp     |   3 +-
 src/rj_ui/src/field_view.cpp                  |  33 ++-
 src/rj_ui/src/main_window.cpp                 | 258 ++----------------
 src/rj_ui/src/processor.cpp                   |   1 +
 src/rj_ui/src/robot_status_widget.cpp         |   6 +-
 src/rj_ui/src/sim_field_view.cpp              |   8 +-
 13 files changed, 235 insertions(+), 429 deletions(-)
 create mode 100644 src/rj_common/include/rj_common/live_frame.hpp
 delete mode 100644 src/rj_ui/include/rj_ui/live_frame.hpp

diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index f98d07cb5b8..944160b07e5 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <memory>
 #include <set>
 
 #include <rj_constants/constants.hpp>
@@ -15,6 +16,7 @@
 #include "rj_common/robot_intent.hpp"
 #include "rj_common/team_info.hpp"
 #include "rj_common/world_state.hpp"
+#include "rj_common/live_frame.hpp"
 
 struct Context {
     Context() : debug_drawer(this) {}
@@ -61,4 +63,66 @@ struct Context {
     GameSettings game_settings;
 
     std::string behavior_tree;
+
+    std::vector<std::shared_ptr<rj_common::LiveFrame>> frames;
+
+    RJ::Time start_time;
 };
+
+static std::shared_ptr<rj_common::LiveFrame> create_log_frame(const Context& context) {
+    // Add everything to the log frame.
+    auto frame = std::make_shared<rj_common::LiveFrame>();
+
+    // Debug drawing
+    frame->debug_draw_frame = context.debug_drawer.published_frame();
+
+    frame->blue = context.blue_team;
+
+    // Our robots
+    for (size_t shell = 0; shell < kNumShells; shell++) {
+        const auto& state = context.world_state.our_robots.at(shell);
+        const auto& status = context.robot_status.at(shell);
+
+        if (RJ::now() - status.timestamp < RJ::Seconds(0.5)) {
+            frame->radio_rx_.push_back(status);
+        }
+
+        if (!state.visible) {
+            continue;
+        }
+
+        rj_common::LiveFrame::fill_robot(&frame->self_.emplace_back(), shell, state, &status);
+    }
+
+    // Opponent robots
+    for (size_t shell = 0; shell < kNumShells; shell++) {
+        const auto& state = context.world_state.their_robots.at(shell);
+        if (!state.visible) {
+            continue;
+        }
+
+        rj_common::LiveFrame::fill_robot(&frame->opp_.emplace_back(), shell, state, nullptr);
+    }
+
+    // Ball
+    if (context.world_state.ball.visible) {
+        frame->ball_state = {context.world_state.ball.position, context.world_state.ball.velocity};
+    }
+
+    // Field
+    frame->manual = context.game_settings.joystick_config.manual_id;
+    frame->defend_plus = context.game_settings.defend_plus_x;
+    frame->use_our = context.game_settings.use_our_half;
+    frame->use_opponent = context.game_settings.use_their_half;
+
+    // Team names
+    if (context.blue_team) {
+        frame->yellow_name = context.their_info.name;
+        frame->blue_name = context.our_info.name;
+    } else {
+        frame->yellow_name = context.our_info.name;
+        frame->blue_name = context.their_info.name;
+    }
+
+    return frame;
+}
diff --git a/src/rj_common/include/rj_common/debug_drawings.hpp b/src/rj_common/include/rj_common/debug_drawings.hpp
index ba94ba2df09..917bf41a436 100644
--- a/src/rj_common/include/rj_common/debug_drawings.hpp
+++ b/src/rj_common/include/rj_common/debug_drawings.hpp
@@ -86,6 +86,7 @@ struct DebugDrawFrame {
     std::vector<DebugArc> arcs;
     std::vector<DebugText> texts;
     std::vector<DebugRobotPath> robot_paths;
+    std::vector<std::string> debug_layers;
 
     void clear() {
         paths.clear();
@@ -94,5 +95,6 @@ struct DebugDrawFrame {
         arcs.clear();
         texts.clear();
         robot_paths.clear();
+        debug_layers.clear();
     }
 };
diff --git a/src/rj_common/include/rj_common/live_frame.hpp b/src/rj_common/include/rj_common/live_frame.hpp
new file mode 100644
index 00000000000..f502134dcda
--- /dev/null
+++ b/src/rj_common/include/rj_common/live_frame.hpp
@@ -0,0 +1,114 @@
+#pragma once
+
+#include <array>
+#include <optional>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "rj_common/control/motion_setpoint.hpp"
+#include "rj_common/radio/robot_status.hpp"
+#include "rj_common/robot_intent.hpp"
+#include "rj_common/time.hpp"
+#include "rj_common/world_state.hpp"
+#include "rj_common/debug_drawings.hpp"
+#include "rj_common/radio/robot_status.hpp"
+
+namespace rj_common {
+
+enum BallSenseStatus { NoBall, HasBall, Dazzled, Failed };
+enum MotorStatus { Good, Fault };
+
+struct LiveRobot {
+    int shell() const { return shell_id; }
+    const rj_geometry::Point& pos() const { return position; }
+    float angle() const { return static_cast<float>(heading); }
+    bool has_ball_sense_status() const { return true; }
+    BallSenseStatus ball_sense_status() const { return has_ball ? BallSenseStatus::HasBall : BallSenseStatus::NoBall; }
+    bool has_kicker_works() const { return false; }
+    bool kicker_works() const { return kicker_ok; }
+    const std::vector<MotorStatus>& motor_status() const { return motors; }
+    MotorStatus motor_status(int index) const { return motors.at(index); }
+    bool has_battery_voltage() const { return true; }
+    float battery_voltage() const { return battery; }
+    const std::vector<DebugText>& text() const { return texts; }
+
+    int shell_id = -1;
+    rj_geometry::Point position;
+    double heading = 0;
+    bool has_ball = false;
+    bool kicker_ok = true;
+    float battery = 0;
+    std::vector<MotorStatus> motors;
+    std::vector<DebugText> texts;
+};
+
+
+struct LiveBall {
+    const rj_geometry::Point& pos() const { return position; }
+    const rj_geometry::Point& vel() const { return velocity; }
+    rj_geometry::Point position;
+    rj_geometry::Point velocity;
+};
+
+struct LiveFrame {
+    using Robot = LiveRobot;
+
+    bool defend_plus_x() const { return defend_plus; }
+    bool use_our_half() const { return use_our; }
+    bool use_opponent_half() const { return use_opponent; }
+    bool blue_team() const { return blue; }
+    int manual_id() const { return manual; }
+    const std::string& team_name_blue() const { return blue_name; }
+    const std::string& team_name_yellow() const { return yellow_name; }
+    bool has_ball() const { return ball_state.has_value(); }
+    const LiveBall& ball() const { return *ball_state; }
+    const std::vector<DebugPath>& debug_paths() const { return debug_draw_frame.paths; }
+    const std::vector<DebugRobotPath>& debug_robot_paths() const { return debug_draw_frame.robot_paths; }
+    const std::vector<DebugCircle>& debug_circles() const { return debug_draw_frame.circles; }
+    const std::vector<DebugArc>& debug_arcs() const { return debug_draw_frame.arcs; }
+    const std::vector<DebugPath>& debug_polygons() const { return debug_draw_frame.polygons; }
+    const std::vector<DebugText>& debug_texts() const { return debug_draw_frame.texts; }
+    int debug_layers_size() const { return static_cast<int>(debug_draw_frame.debug_layers.size()); }
+    const std::string& debug_layers(int i) const { return debug_draw_frame.debug_layers.at(i); }
+
+    const std::vector<LiveRobot>& self() const { return self_; }
+    const std::vector<LiveRobot>& opp() const { return opp_; }
+    const LiveRobot& self(int index) const { return self_.at(index); }
+    const LiveRobot& opp(int index) const { return opp_.at(index); }
+    int self_size() const { return static_cast<int>(self_.size()); }
+    int opp_size() const { return static_cast<int>(opp_.size()); }
+
+    std::vector<LiveRobot> self_;
+    std::vector<LiveRobot> opp_;
+    std::vector<RobotStatus> radio_rx_;
+    std::optional<LiveBall> ball_state;
+    bool blue = true;
+    bool defend_plus = false;
+    bool use_our = true;
+    bool use_opponent = true;
+    int manual = -1;
+    std::string blue_name;
+    std::string yellow_name;
+    DebugDrawFrame debug_draw_frame;
+
+    static void fill_robot(LiveRobot* out, int shell_id, RobotState const& state, RobotStatus const* status) {
+        out->shell_id = shell_id;
+    
+        out->position = state.pose.position();
+        out->heading = state.pose.heading();
+    
+        if (status != nullptr) {
+            out->has_ball = status->has_ball;
+            out->motors.resize(5);
+            for (int i = 0; i < 5; i++) {
+                out->motors.at(i) = (status->motors_healthy[i] ? MotorStatus::Good
+                                                        : MotorStatus::Fault);
+            }
+            out->kicker_ok = status->kicker != RobotStatus::KickerState::kFailed;
+            out->battery = static_cast<float>(status->battery_voltage);
+        }
+    }
+};
+
+}  // namespace rj_common
diff --git a/src/rj_ui/include/rj_ui/field_view.hpp b/src/rj_ui/include/rj_ui/field_view.hpp
index 41e7660f185..210c0c1c257 100644
--- a/src/rj_ui/include/rj_ui/field_view.hpp
+++ b/src/rj_ui/include/rj_ui/field_view.hpp
@@ -17,16 +17,13 @@
 #include <rj_common/field_dimensions.hpp>
 #include <rj_common/planning/motion_constraints.hpp>
 #include <rj_common/vision_dot_pattern.hpp>
+#include <rj_common/live_frame.hpp>
 #include <rj_constants/constants.hpp>
 #include <rj_geometry/point.hpp>
 #include <rj_geometry/transform_matrix.hpp>
 #include <rj_geometry/util.hpp>
 #include <rj_utils/log_utils.hpp>
 
-#include "rj_ui/live_frame.hpp"
-
-class Logger;
-
 /** class that performs drawing of log data onto the field */
 class FieldView : public QWidget {
 public:
@@ -49,7 +46,7 @@ class FieldView : public QWidget {
         }
     }
 
-    void history(const std::vector<std::shared_ptr<rj_ui::LiveFrame> >* value) {
+    void history(const std::vector<std::shared_ptr<rj_common::LiveFrame> >* value) {
         _history = value;
     }
 
@@ -79,7 +76,7 @@ class FieldView : public QWidget {
 
     void drawText(QPainter& p, QPointF pos, const QString& text,
                   bool center = true) const;
-    static void drawField(QPainter& p, const rj_ui::LiveFrame* frame);
+    static void drawField(QPainter& p, const rj_common::LiveFrame* frame);
     void drawRobot(QPainter& p, bool blueRobot, int ID, QPointF pos,
                    float theta, bool hasBall = false, bool faulty = false);
     void drawCoords(QPainter& p);
@@ -98,9 +95,9 @@ class FieldView : public QWidget {
 
 protected:
     // Returns a pointer to the most recent frame, or null if none is available.
-    std::shared_ptr<rj_ui::LiveFrame> currentFrame();
+    std::shared_ptr<rj_common::LiveFrame> currentFrame();
 
-    // Coordinate transformations
+    // Coordirj_common::LiveFramenate transformations
     rj_geometry::TransformMatrix _screenToWorld;
     rj_geometry::TransformMatrix _worldToTeam;
     rj_geometry::TransformMatrix _teamToWorld;
@@ -114,7 +111,7 @@ class FieldView : public QWidget {
     // How many degrees to rotate text so it shows up the right way on screen
     int _textRotation{};
 
-    const std::vector<std::shared_ptr<rj_ui::LiveFrame> >* _history{};
+    const std::vector<std::shared_ptr<rj_common::LiveFrame> >* _history{};
 
     QVector<bool> _layerVisible;
 };
diff --git a/src/rj_ui/include/rj_ui/live_frame.hpp b/src/rj_ui/include/rj_ui/live_frame.hpp
deleted file mode 100644
index 2b2e16ef5ec..00000000000
--- a/src/rj_ui/include/rj_ui/live_frame.hpp
+++ /dev/null
@@ -1,155 +0,0 @@
-#pragma once
-
-#include <array>
-#include <optional>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include <rj_common/context.hpp>
-#include <rj_common/debug_drawings.hpp>
-
-namespace rj_ui {
-
-using ::DebugArc;
-using ::DebugCircle;
-using ::DebugPath;
-using ::DebugRobotPath;
-using ::DebugText;
-
-enum BallSenseStatus { NoBall, HasBall, Dazzled, Failed };
-enum MotorStatus { Good, Fault };
-
-struct LiveRobot {
-    int shell() const { return shell_id; }
-    const rj_geometry::Point& pos() const { return position; }
-    float angle() const { return static_cast<float>(heading); }
-    bool has_ball_sense_status() const { return true; }
-    BallSenseStatus ball_sense_status() const { return has_ball ? BallSenseStatus::HasBall : BallSenseStatus::NoBall; }
-    bool has_kicker_works() const { return false; }
-    bool kicker_works() const { return kicker_ok; }
-    const std::vector<MotorStatus>& motor_status() const { return motors; }
-    MotorStatus motor_status(int index) const { return motors.at(index); }
-    bool has_battery_voltage() const { return true; }
-    float battery_voltage() const { return battery; }
-    const std::vector<DebugText>& text() const { return texts; }
-
-    int shell_id = -1;
-    rj_geometry::Point position;
-    double heading = 0;
-    bool has_ball = false;
-    bool kicker_ok = true;
-    float battery = 0;
-    std::vector<MotorStatus> motors;
-    std::vector<DebugText> texts;
-};
-
-struct LiveBall {
-    const rj_geometry::Point& pos() const { return position; }
-    const rj_geometry::Point& vel() const { return velocity; }
-    rj_geometry::Point position;
-    rj_geometry::Point velocity;
-};
-
-struct LiveFrame {
-    using Robot = LiveRobot;
-    static LiveFrame from_context(const Context& context) {
-        LiveFrame frame;
-        frame.blue = context.blue_team;
-        frame.defend_plus = context.game_settings.defend_plus_x;
-        frame.use_our = context.game_settings.use_our_half;
-        frame.use_opponent = context.game_settings.use_their_half;
-        frame.manual = context.game_settings.joystick_config.manual_id;
-        frame.blue_name = context.blue_team ? context.our_info.name : context.their_info.name;
-        frame.yellow_name = context.blue_team ? context.their_info.name : context.our_info.name;
-
-        for (size_t shell = 0; shell < context.world_state.our_robots.size(); ++shell) {
-            const auto& state = context.world_state.our_robots[shell];
-            if (!state.visible) continue;
-            LiveRobot robot;
-            robot.shell_id = static_cast<int>(shell);
-            robot.position = state.pose.position();
-            robot.heading = state.pose.heading();
-            const auto& status = context.robot_status[shell];
-            robot.has_ball = status.has_ball;
-            robot.kicker_ok = status.kicker != RobotStatus::KickerState::kFailed;
-            robot.battery = static_cast<float>(status.battery_voltage);
-            robot.motors.resize(status.motors_healthy.size(), MotorStatus::Good);
-            frame.self_.push_back(std::move(robot));
-        }
-        for (size_t shell = 0; shell < context.world_state.their_robots.size(); ++shell) {
-            const auto& state = context.world_state.their_robots[shell];
-            if (!state.visible) continue;
-            LiveRobot robot;
-            robot.shell_id = static_cast<int>(shell);
-            robot.position = state.pose.position();
-            robot.heading = state.pose.heading();
-            frame.opp_.push_back(std::move(robot));
-        }
-        if (context.world_state.ball.visible) {
-            frame.ball_state = LiveBall{context.world_state.ball.position,
-                                        context.world_state.ball.velocity};
-        }
-
-        const auto& drawings = context.debug_drawer.published_frame();
-        frame.debug_paths_ = drawings.paths;
-        frame.debug_robot_paths_ = drawings.robot_paths;
-        frame.debug_circles_ = drawings.circles;
-        frame.debug_arcs_ = drawings.arcs;
-        frame.debug_polygons_ = drawings.polygons;
-        frame.debug_texts_ = drawings.texts;
-        const auto& layers = context.debug_drawer.debug_layers();
-        frame.debug_layers_.reserve(layers.size());
-        for (const auto& layer : layers) {
-            frame.debug_layers_.push_back(layer.toStdString());
-        }
-        return frame;
-    }
-
-    bool defend_plus_x() const { return defend_plus; }
-    bool use_our_half() const { return use_our; }
-    bool use_opponent_half() const { return use_opponent; }
-    bool blue_team() const { return blue; }
-    int manual_id() const { return manual; }
-    const std::string& team_name_blue() const { return blue_name; }
-    const std::string& team_name_yellow() const { return yellow_name; }
-    bool has_ball() const { return ball_state.has_value(); }
-    const LiveBall& ball() const { return *ball_state; }
-    const std::vector<DebugPath>& debug_paths() const { return debug_paths_; }
-    const std::vector<DebugRobotPath>& debug_robot_paths() const { return debug_robot_paths_; }
-    const std::vector<DebugCircle>& debug_circles() const { return debug_circles_; }
-    const std::vector<DebugArc>& debug_arcs() const { return debug_arcs_; }
-    const std::vector<DebugPath>& debug_polygons() const { return debug_polygons_; }
-    const std::vector<DebugText>& debug_texts() const { return debug_texts_; }
-    int debug_layers_size() const { return static_cast<int>(debug_layers_.size()); }
-    const std::string& debug_layers(int i) const { return debug_layers_.at(i); }
-
-    const std::vector<LiveRobot>& self_robots() const { return self_; }
-    const std::vector<LiveRobot>& opp_robots() const { return opp_; }
-    const std::vector<LiveRobot>& self() const { return self_; }
-    const std::vector<LiveRobot>& opp() const { return opp_; }
-    const LiveRobot& self(int index) const { return self_.at(index); }
-    const LiveRobot& opp(int index) const { return opp_.at(index); }
-    int self_size() const { return static_cast<int>(self_.size()); }
-    int opp_size() const { return static_cast<int>(opp_.size()); }
-
-    std::vector<LiveRobot> self_;
-    std::vector<LiveRobot> opp_;
-    std::optional<LiveBall> ball_state;
-    bool blue = true;
-    bool defend_plus = false;
-    bool use_our = true;
-    bool use_opponent = true;
-    int manual = -1;
-    std::string blue_name;
-    std::string yellow_name;
-    std::vector<DebugPath> debug_paths_;
-    std::vector<DebugRobotPath> debug_robot_paths_;
-    std::vector<DebugCircle> debug_circles_;
-    std::vector<DebugArc> debug_arcs_;
-    std::vector<DebugPath> debug_polygons_;
-    std::vector<DebugText> debug_texts_;
-    std::vector<std::string> debug_layers_;
-};
-
-}  // namespace rj_ui
diff --git a/src/rj_ui/include/rj_ui/main_window.hpp b/src/rj_ui/include/rj_ui/main_window.hpp
index 7e30e921b13..6a58d4bf51f 100644
--- a/src/rj_ui/include/rj_ui/main_window.hpp
+++ b/src/rj_ui/include/rj_ui/main_window.hpp
@@ -190,7 +190,7 @@ private Q_SLOTS:
 private:
     void updateStatus();
     void updateFromRefPacket(bool haveExternalReferee);
-    void updateDebugLayers(const rj_ui::LiveFrame& frame);
+    void updateDebugLayers(const rj_common::LiveFrame& frame);
     static std::string formatLabelBold(Side side, const std::string& label);
 
     enum class StatusType { Status_OK, Status_Warning, Status_Fail };
@@ -249,7 +249,7 @@ private Q_SLOTS:
     std::mutex* context__mutex;
     Context* context_;
 
-    std::vector<std::shared_ptr<rj_ui::LiveFrame>> _history{};
+    std::vector<std::shared_ptr<rj_common::LiveFrame>> _history{};
 
     // ROS Compatibility stuff
     void send_quick_command(const PlayState& state);
diff --git a/src/rj_ui/include/rj_ui/processor.hpp b/src/rj_ui/include/rj_ui/processor.hpp
index 80f8be2c7b3..f47c4fb2d45 100644
--- a/src/rj_ui/include/rj_ui/processor.hpp
+++ b/src/rj_ui/include/rj_ui/processor.hpp
@@ -13,6 +13,7 @@
 #include <spdlog/spdlog.h>
 
 #include <rj_common/context.hpp>
+#include <rj_common/live_frame.hpp>
 #include <rj_common/debug_drawer.hpp>
 #include <rj_common/node.hpp>
 #include <rj_constants/constants.hpp>
diff --git a/src/rj_ui/include/rj_ui/robot_status_widget.hpp b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
index a83a526e34d..9db679b272b 100644
--- a/src/rj_ui/include/rj_ui/robot_status_widget.hpp
+++ b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
@@ -9,6 +9,7 @@
 
 #include <rj_common/status.hpp>
 #include <rj_common/radio/robot_status.hpp>
+#include <rj_common/live_frame.hpp>
 #include <rj_common/world_state.hpp>
 
 #include "rj_ui/battery_profile.hpp"
@@ -23,7 +24,7 @@ class RobotStatusWidget : public QWidget {
 public:
     RobotStatusWidget(QWidget* parent = nullptr, Qt::WindowFlags f = nullptr);
 
-    void load(const RobotStatus& status, const RobotState& robot, bool blueTeam);
+    void load(const RobotStatus& status, const std::optional<rj_common::LiveFrame::Robot>& maybe_robot, bool blueTeam);
 
     [[nodiscard]] int shellID() const;
     void setShellID(int shellID);
diff --git a/src/rj_ui/src/field_view.cpp b/src/rj_ui/src/field_view.cpp
index 2336f30274b..7d2a9bc14b6 100644
--- a/src/rj_ui/src/field_view.cpp
+++ b/src/rj_ui/src/field_view.cpp
@@ -26,7 +26,6 @@
 using namespace std;
 
 using namespace boost;
-using namespace rj_ui;
 
 static QPen redPen(Qt::red, 0);
 static QPen bluePen(Qt::blue, 0);
@@ -81,11 +80,11 @@ void FieldView::mouseMoveEvent(QMouseEvent* me) {
     _posLabel->setText(s);
 }
 
-std::shared_ptr<LiveFrame> FieldView::currentFrame() {
+std::shared_ptr<rj_common::LiveFrame> FieldView::currentFrame() {
     if (_history != nullptr && !_history->empty()) {
         return _history->back();
     }
-    return std::shared_ptr<LiveFrame>();
+    return std::shared_ptr<rj_common::LiveFrame>();
 }
 
 void FieldView::rotate(int value) {
@@ -127,7 +126,7 @@ void FieldView::paintEvent(QPaintEvent* /*e*/) {
     }
 
     // Get the latest LogFrame
-    const std::shared_ptr<LiveFrame> frame = currentFrame();
+    const std::shared_ptr<rj_common::LiveFrame> frame = currentFrame();
 
     if (!frame) {
         // No data available yet
@@ -184,7 +183,7 @@ void FieldView::paintEvent(QPaintEvent* /*e*/) {
 
 void FieldView::drawWorldSpace(QPainter& p) {
     // Get the latest LogFrame
-    const LiveFrame* frame = _history->back().get();
+    const rj_common::LiveFrame* frame = _history->back().get();
 
     // Draw the field
     drawField(p, frame);
@@ -193,7 +192,7 @@ void FieldView::drawWorldSpace(QPainter& p) {
 
 void FieldView::drawTeamSpace(QPainter& p) {
     // Get the latest LogFrame
-    const LiveFrame* frame = _history->back().get();
+    const rj_common::LiveFrame* frame = _history->back().get();
 
     if (showTeamNames) {
         // Draw Team Names
@@ -236,7 +235,7 @@ void FieldView::drawTeamSpace(QPainter& p) {
     int ballTrailLength = 60;
     for (unsigned int i = _history->size() - std::min<int>(_history->size(), ballTrailLength);
          i < _history->size(); ++i) {
-        const LiveFrame* oldFrame = _history->at(i).get();
+        const rj_common::LiveFrame* oldFrame = _history->at(i).get();
         if (oldFrame != nullptr && oldFrame->has_ball()) {
             QPointF pos = qpointf(oldFrame->ball().pos());
 
@@ -374,9 +373,9 @@ void FieldView::drawTeamSpace(QPainter& p) {
     int pastLocationCount = 40;  // number of past locations to show
     int start = std::max(0, static_cast<int>(_history->size()) - pastLocationCount);
     for (size_t i = start; i < _history->size(); i++) {
-        const LiveFrame* oldFrame = _history->at(i).get();
+        const rj_common::LiveFrame* oldFrame = _history->at(i).get();
         if (oldFrame != nullptr) {
-            for (const LiveFrame::Robot& r : oldFrame->self()) {
+            for (const rj_common::LiveFrame::Robot& r : oldFrame->self()) {
                 pair<int, int> key(1, r.shell());
                 if (cometTrails.find(key) != cometTrails.end() || i == start) {
                     QPointF pt = qpointf(r.pos());
@@ -388,7 +387,7 @@ void FieldView::drawTeamSpace(QPainter& p) {
                 }
             }
 
-            for (const LiveFrame::Robot& r : oldFrame->opp()) {
+            for (const rj_common::LiveFrame::Robot& r : oldFrame->opp()) {
                 pair<int, int> key(2, r.shell());
                 if (cometTrails.find(key) != cometTrails.end() || i == start) {
                     QPointF pt = qpointf(r.pos());
@@ -420,26 +419,26 @@ void FieldView::drawTeamSpace(QPainter& p) {
     QPointF rtY = qpointf(rj_geometry::Point(-1, 0).rotated(-_rotate * 90));
 
     // Opponent robots
-    for (const LiveFrame::Robot& r : frame->opp()) {
+    for (const rj_common::LiveFrame::Robot& r : frame->opp()) {
         drawRobot(p, !frame->blue_team(), r.shell(), qpointf(r.pos()), r.angle(),
-                  r.ball_sense_status() == HasBall);
+                  r.ball_sense_status() == rj_common::HasBall);
     }
 
     // Our robots
     int manualID = frame->manual_id();
-    for (const LiveFrame::Robot& r : frame->self()) {
+    for (const rj_common::LiveFrame::Robot& r : frame->self()) {
         QPointF center = qpointf(r.pos());
 
         bool faulty = false;
         if (r.has_ball_sense_status() &&
-            (r.ball_sense_status() == Dazzled || r.ball_sense_status() == Failed)) {
+            (r.ball_sense_status() == rj_common::Dazzled || r.ball_sense_status() == rj_common::Failed)) {
             faulty = true;
         }
         if (r.has_kicker_works() && !r.kicker_works()) {
             // 			faulty = true;
         }
         for (int i = 0; i < r.motor_status().size(); ++i) {
-            if (r.motor_status(i) != Good) {
+            if (r.motor_status(i) != rj_common::Good) {
                 faulty = true;
             }
         }
@@ -448,7 +447,7 @@ void FieldView::drawTeamSpace(QPainter& p) {
         }
 
         drawRobot(p, frame->blue_team(), r.shell(), center, r.angle(),
-                  r.ball_sense_status() == HasBall, faulty);
+                  r.ball_sense_status() == rj_common::HasBall, faulty);
 
         // Highlight the manually controlled robot
         if (manualID == r.shell()) {
@@ -518,7 +517,7 @@ void FieldView::drawCoords(QPainter& p) {
     drawText(p, QPointF(0.1, 0.25), "+Y");
 }
 
-void FieldView::drawField(QPainter& p, const LiveFrame* frame) {
+void FieldView::drawField(QPainter& p, const rj_common::LiveFrame* frame) {
     p.save();
 
     // reset to center
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index 1f3cd3fc15b..1a4e7d3f386 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -51,8 +51,7 @@ using namespace boost;
 using namespace google::protobuf;
 using namespace Eigen;
 
-constexpr int kHistorySize = 60 * 2;
-constexpr int kLongHistorySize = 60 * 60 * 30;
+constexpr size_t kHistorySize = 60 * 2;
 
 static const std::vector<QString> defaultHiddenLayers{
     "MotionControl", "Global Obstacles", "Local Obstacles", "Planning0", "Planning1",
@@ -75,6 +74,8 @@ MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* par
 
     qRegisterMetaType<QVector<int>>("QVector<int>");
     _ui.setupUi(this);
+    _ui.fieldView->history(&_history);
+    
     _ui.logTree->setVisible(false);
     _ui.logHistoryLocation->setVisible(false);
     _ui.logPlaybackRewind->setVisible(false);
@@ -270,35 +271,6 @@ void MainWindow::updateFromRefPacket(bool haveExternalReferee) {
 }
 
 void MainWindow::updateViews() {
-    {
-        std::lock_guard<std::mutex> lock(*context__mutex);
-        _history.clear();
-        _history.push_back(std::make_shared<rj_ui::LiveFrame>(
-            rj_ui::LiveFrame::from_context(*context_)));
-    }
-    _ui.fieldView->history(&_history);
-    _ui.fieldView->live = true;
-    updateDebugLayers(*_history.back());
-    _ui.fieldView->update();
-
-    ++_updateCount;
-    if (_updateCount == 4) {
-        _updateCount = 0;
-        const RJ::Time now = RJ::now();
-        const auto delta = now - _lastUpdateTime;
-        _lastUpdateTime = now;
-        _viewFPS->setText(QString("View: %1 fps").arg((RJ::Seconds(1) / delta), 0, 'f', 1));
-        _procFPS->setText(QString("Proc: %1 fps").arg(_processor->framerate(), 0, 'f', 1));
-    }
-
-    _ui.behaviorTree->setPlainText(QString::fromStdString(context_->behavior_tree));
-    _ui.refCommand->setText(QString::fromStdString(context_->play_state.get_human_readout()));
-    updateStatus();
-    updateTimer.start(20);
-}
-
-#if 0
-void MainWindow::updateViews_removed() {
     // TODO(Kyle): Re-enable manual control
 #if MANUAL
     int manual = context_->game_settings.joystick_config.manualID;
@@ -343,134 +315,39 @@ void MainWindow::updateViews_removed() {
 
         _viewFPS->setText(QString("View: %1 fps").arg(framerate, 0, 'f', 1));
         _procFPS->setText(QString("Proc: %1 fps").arg(_processor->framerate(), 0, 'f', 1));
-
-        _logMemory->setText(
-            QString("Log: %1 kiB").arg(QString::number((context_->logs.size_bytes + 512) / 1024)));
     }
 
     auto value = _ui.logHistoryLocation->value();
 
-    std::shared_ptr<LogFrame> live_frame;
-    RJ::Time start_time;
-    int minFrame = 0;
-    int maxFrame = 0;
+    std::shared_ptr<rj_common::LiveFrame> live_frame;
 
     // Grab frames
     {
         std::lock_guard<std::mutex> lock(*context__mutex);
-        if (context_->logs.frames.empty()) {
+        if (context_->frames.empty()) {
             // No log frames, nothing else to update.
             return;
         }
 
-        start_time = context_->logs.start_time;
-
-        size_t num_dropped = context_->logs.dropped_frames;
-
-        if (live()) {
-            _doubleFrameNumber = static_cast<double>(context_->logs.frames.size() + num_dropped);
-        } else {
-            _doubleFrameNumber += *_playbackRate;
-        }
-
-        minFrame = num_dropped;
-        maxFrame = static_cast<int>(num_dropped + context_->logs.frames.size()) - 1;
-
-        if (_doubleFrameNumber < minFrame) {
-            _doubleFrameNumber = minFrame;
-        } else if (_doubleFrameNumber >= maxFrame) {
-            _doubleFrameNumber = maxFrame;
-            setLive();
-        }
-
-        _ui.logHistoryLocation->setMinimum(minFrame);
-        _ui.logHistoryLocation->setMaximum(maxFrame);
-
-        live_frame = context_->logs.frames.back();
-
-        // Cast to ints so that subtraction doesn't overflow.
-        int start = std::max(frameNumber() - kLongHistorySize, minFrame);
-
-        // Read the latest frames
-        _longHistory.assign(context_->logs.frames.begin() + start - num_dropped,
-                            context_->logs.frames.begin() + frameNumber() - num_dropped + 1);
+        live_frame = context_->frames.back();
     }
 
-    // Set the history vector by taking the last kHistorySize elements of the
-    // "long" history, or fewer if _longHistory is shorter.
-    _history.assign(
-        _longHistory.end() - std::min(kHistorySize, static_cast<int>(_longHistory.size())),
-        _longHistory.end());
+    // // Set the history vector by taking the last kHistorySize elements of the
+    // // "long" history, or fewer if _longHistory is shorter.
+    _history.assign(context_->frames.end() - std::min(kHistorySize, context_->frames.size()), context_->frames.end());
 
     // Update field view
     _ui.fieldView->update();
 
-    /**************************************************************************/
-    /***************** Update the history/playback interface ******************/
-    /**************************************************************************/
-    _ui.logHistoryLocation->setTickInterval(60 * 60);  // interval is ~ 1 minute
-    _ui.logHistoryLocation->setValue(static_cast<int>(_doubleFrameNumber));
-
-    // enable playback buttons based on playback rate
-    for (QPushButton* playbackBtn : _logPlaybackButtons) {
-        playbackBtn->setEnabled(true);
-    }
-    _ui.logPlaybackLive->setEnabled(!live());
-
-    if (live() || abs<float>(*_playbackRate) > 0.01) {
-        _ui.logPlaybackPause->setAutoFillBackground(false);
-    } else {
-        _ui.logPlaybackPause->setAutoFillBackground(true);
-    }
-
-    //  enable previous frame button based on position in the log
-    _ui.logPlaybackPrevFrame->setEnabled(_doubleFrameNumber >= 1);
-    _ui.logPlaybackNextFrame->setEnabled(!live());
-
     // Update status indicator
     updateStatus();
 
-    update_cache(_game_settings.paused, !live(), &_game_settings_valid);
-
     // Check if any debug layers have been added
     // (layers should never be removed)
     if (live_frame) {
         updateDebugLayers(*live_frame);
     }
 
-    // Get the frame at the log playback time
-    const std::shared_ptr<LogFrame> currentFrame = _history.back();
-
-    // Update the playback labels
-    if (currentFrame) {
-        auto gametime = RJ::Time(chrono::microseconds(currentFrame->timestamp())) - start_time;
-        auto minutes = chrono::duration_cast<chrono::minutes>(gametime);
-        gametime -= minutes;
-        auto seconds = chrono::duration_cast<chrono::seconds>(gametime);
-        gametime -= seconds;
-        auto deciseconds = chrono::duration_cast<chrono::duration<long, ratio<1, 100>>>(gametime);
-
-        _ui.logTime->setText(QString::fromStdString(to_string(minutes.count()) + ":" +
-                                                    to_string(seconds.count()) + "." +
-                                                    to_string(deciseconds.count())));
-
-        _ui.frameNumLabel->setText(
-            QString("%1/%2").arg(QString::number(frameNumber())).arg(QString::number(maxFrame)));
-    }
-
-    /**************************************************************************/
-    /***************** Update log tree and behavior tree **********************/
-    /**************************************************************************/
-    if (currentFrame != nullptr) {
-        _ui.logTree->message(*currentFrame);
-
-        // update the behavior tree view
-        QString behaviorStr = QString::fromStdString(currentFrame->behavior_tree());
-        if (_ui.behaviorTree->toPlainText() != behaviorStr) {
-            _ui.behaviorTree->setPlainText(behaviorStr);
-        }
-    }
-
     /**************************************************************************/
     /******************** Update referee information **************************/
     /**************************************************************************/
@@ -513,23 +390,23 @@ void MainWindow::updateViews_removed() {
     /**************************************************************************/
     /********************** Update robot status list **************************/
     /**************************************************************************/
-    if (currentFrame != nullptr) {
+    if (live_frame != nullptr) {
         // update robot status list
         for (size_t shell = 0; shell < kNumShells; shell++) {
             // Search for the corresponding references.
-            auto maybe_rx = [&]() -> std::optional<std::reference_wrapper<const Packet::RadioRx>> {
-                for (int i = 0; i < currentFrame->radio_rx_size(); i++) {
-                    if (currentFrame->radio_rx(i).robot_id() == shell) {
-                        return currentFrame->radio_rx(i);
+            auto maybe_rx = [&]() -> std::optional<std::reference_wrapper<const RobotStatus>> {
+                for (auto & i : live_frame->radio_rx_) {
+                    if (i.shell_id == shell) {
+                        return i;
                     }
                 }
                 return std::nullopt;
             }();
             auto maybe_robot =
-                [&]() -> std::optional<std::reference_wrapper<const Packet::LogFrame_Robot>> {
-                for (int i = 0; i < currentFrame->self_size(); i++) {
-                    if (currentFrame->self(i).shell() == shell) {
-                        return currentFrame->self(i);
+                [&]() -> std::optional<std::reference_wrapper<const rj_common::LiveFrame::Robot>> {
+                for (int i = 0; i < live_frame->self_size(); i++) {
+                    if (live_frame->self(i).shell() == shell) {
+                        return live_frame->self(i);
                     }
                 }
                 return std::nullopt;
@@ -583,7 +460,7 @@ void MainWindow::updateViews_removed() {
             }
 
             if (statusWidget != nullptr) {
-                statusWidget->loadFromLogFrame(rx, maybe_robot, currentFrame->blue_team());
+                statusWidget->load(rx, maybe_robot, live_frame->blue_team());
             }
         }
     }
@@ -609,8 +486,6 @@ void MainWindow::updateViews_removed() {
     updateTimer.start(20);
 }
 
-#endif
-
 void MainWindow::updateStatus() {
     // Guidelines:
     //    Status_Fail is used for severe, usually external, errors such as
@@ -905,80 +780,6 @@ void MainWindow::on_actionRestartUpdateTimer_triggered() {
     updateTimer.start(30);
 }
 
-#if 0
-void MainWindow::on_actionStart_Logging_triggered() {
-    if (context_->logs.state != Logs::State::kWriting) {
-        if (!QDir("logs").exists()) {
-            QDir().mkdir("logs");
-        }
-
-        QString logFile =
-            QString("logs/") + QDateTime::currentDateTime().toString("yyyyMMdd-hhmmss.log");
-
-        if (!_processor->open_log(logFile)) {
-            printf("Failed to open %s: %m\n", (const char*)logFile.toLatin1());
-        } else {
-            _ui.actionStart_Logging->setText(QString("Now Logging to:") + logFile);
-            _ui.actionStart_Logging->setEnabled(false);
-        }
-    }
-}
-
-// Gameplay commands
-
-// choose between kick on break beam and immeditate
-
-// Log controls
-void MainWindow::on_logHistoryLocation_sliderMoved(int value) {
-    // Sync frameNumber with logHistory slider
-    _doubleFrameNumber = value;
-
-    // pause playback
-    setPlayBackRate(0);
-}
-
-void MainWindow::on_logHistoryLocation_sliderPressed() {
-    on_logHistoryLocation_sliderMoved(_ui.logHistoryLocation->value());
-}
-
-void MainWindow::on_logHistoryLocation_sliderReleased() { on_logHistoryLocation_sliderPressed(); }
-
-void MainWindow::on_logPlaybackRewind_clicked() {
-    if (live()) {
-        setPlayBackRate(-1);
-    } else {
-        *_playbackRate += -0.5;
-    }
-}
-
-void MainWindow::on_logPlaybackPrevFrame_clicked() {
-    setPlayBackRate(0);
-    _doubleFrameNumber -= 1;
-}
-
-void MainWindow::on_logPlaybackPause_clicked() {
-    if (live() || std::abs(*_playbackRate) > 0.1) {
-        setPlayBackRate(0);
-    } else {
-        setPlayBackRate(1);
-    }
-}
-
-void MainWindow::on_logPlaybackNextFrame_clicked() {
-    setPlayBackRate(0);
-    _doubleFrameNumber += 1;
-}
-
-void MainWindow::on_logPlaybackPlay_clicked() {
-    if (!live()) {
-        *_playbackRate += 0.5;
-    }
-}
-
-void MainWindow::on_logPlaybackLive_clicked() { setLive(); }
-
-#endif
-
 void MainWindow::on_actionSeed_triggered() {
     QString text = QInputDialog::getText(this, "Set Random Seed", "Hexadecimal seed:");
     if (!text.isNull()) {
@@ -1092,7 +893,7 @@ void MainWindow::on_debugLayers_itemChanged(QListWidgetItem* item) {
     _ui.fieldView->update();
 }
 
-void MainWindow::updateDebugLayers(const rj_ui::LiveFrame& frame) {
+void MainWindow::updateDebugLayers(const rj_common::LiveFrame& frame) {
     if (frame.debug_layers_size() > _ui.debugLayers->count()) {
         for (int i = _ui.debugLayers->count(); i < frame.debug_layers_size(); ++i) {
             const QString name = QString::fromStdString(frame.debug_layers(i));
@@ -1161,25 +962,6 @@ void MainWindow::on_fastPenaltyYellow_clicked() {
     queued_command_ = setup_penalty_state.advanced_from_normal_start();
 }
 
-#if 0
-bool MainWindow::live() { return true; }
-void MainWindow::updateDebugLayers(const LogFrame& frame) {
-    // Check if any debug layers have been added
-    // (layers should never be removed)
-    if (frame.debug_layers_size() > _ui.debugLayers->count()) {
-        // Add the missing layers and turn them on
-        for (int i = _ui.debugLayers->count(); i < frame.debug_layers_size(); ++i) {
-            const QString name = QString::fromStdString(frame.debug_layers(i));
-            bool enabled = !std::any_of(defaultHiddenLayers.begin(), defaultHiddenLayers.end(),
-                                        [&](const QString& string) { return string == name; });
-            addLayer(i, name, enabled);
-        }
-
-        _ui.debugLayers->sortItems();
-    }
-}
-#endif
-
 /**
  * The following methods are event listeners for the manual position assignments.
  * In the QT5 event handling system, these methods are automatically connected to the
diff --git a/src/rj_ui/src/processor.cpp b/src/rj_ui/src/processor.cpp
index d1435702836..813a7d3e9e7 100644
--- a/src/rj_ui/src/processor.cpp
+++ b/src/rj_ui/src/processor.cpp
@@ -110,6 +110,7 @@ void Processor::run() {
             std::lock_guard<std::mutex> lock(loop_mutex_);
             debug_draw_sub_->run();
             context_.debug_drawer.commit_frame();
+            context_.frames.emplace_back(create_log_frame(context_));
         }
 
         ////////////////
diff --git a/src/rj_ui/src/robot_status_widget.cpp b/src/rj_ui/src/robot_status_widget.cpp
index e6bcfe20a56..eb9b26e1263 100644
--- a/src/rj_ui/src/robot_status_widget.cpp
+++ b/src/rj_ui/src/robot_status_widget.cpp
@@ -97,13 +97,13 @@ void RobotStatusWidget::setShowstopper(bool showstopper) {
     }
 }
 
-void RobotStatusWidget::load(const RobotStatus& status, const RobotState& robot, bool blueTeam) {
+void RobotStatusWidget::load(const RobotStatus& status, const std::optional<rj_common::LiveFrame::Robot>& maybe_robot, bool blueTeam) {
     setShellID(status.shell_id);
     setBlueTeam(blueTeam);
     setRobotModel(status.version == RobotStatus::HardwareVersion::kSimulated ? "Simulation" :
                   status.version == RobotStatus::HardwareVersion::kFleet2018 ? "RJ2018" : "Unknown Bot");
     setHasRadio(status.timestamp != RJ::Time{});
-    setHasVision(robot.visible);
+    setHasVision(maybe_robot.has_value());
 
     QStringList errors;
     bool motorFault = false;
@@ -126,6 +126,6 @@ void RobotStatusWidget::load(const RobotStatus& status, const RobotState& robot,
                                     status.battery_voltage));
     setBatteryLevel(battery);
     setErrorText(errors.join(", "));
-    setShowstopper(!robot.visible || motorFault || kickerFault || battery < 0.25f ||
+    setShowstopper(!maybe_robot.has_value() || motorFault || kickerFault || battery < 0.25f ||
                    !status.fpga_healthy);
 }
diff --git a/src/rj_ui/src/sim_field_view.cpp b/src/rj_ui/src/sim_field_view.cpp
index fa3b038debd..e470a47293e 100644
--- a/src/rj_ui/src/sim_field_view.cpp
+++ b/src/rj_ui/src/sim_field_view.cpp
@@ -44,17 +44,17 @@ void SimFieldView::mousePressEvent(QMouseEvent* me) {
 
     rj_geometry::Point pos = _worldToTeam * _screenToWorld * me->pos();
 
-    std::shared_ptr<rj_ui::LiveFrame> frame = currentFrame();
+    std::shared_ptr<rj_common::LiveFrame> frame = currentFrame();
     if (me->button() == Qt::LeftButton && frame) {
         drag_robot_ = -1;
-        for (const rj_ui::LiveFrame::Robot& r : frame->self()) {
+        for (const rj_common::LiveFrame::Robot& r : frame->self()) {
             if (pos.near_point(r.pos(), kRobotRadius)) {
                 drag_robot_ = r.shell();
                 drag_robot_blue_ = frame->blue_team();
                 break;
             }
         }
-        for (const rj_ui::LiveFrame::Robot& r : frame->opp()) {
+        for (const rj_common::LiveFrame::Robot& r : frame->opp()) {
             if (pos.near_point(r.pos(), kRobotRadius)) {
                 drag_robot_ = r.shell();
                 drag_robot_blue_ = !frame->blue_team();
@@ -154,7 +154,7 @@ void SimFieldView::drawTeamSpace(QPainter& p) {
     FieldView::drawTeamSpace(p);
 
     // Simulator drag-to-shoot
-    std::shared_ptr<rj_ui::LiveFrame> frame = currentFrame();
+    std::shared_ptr<rj_common::LiveFrame> frame = currentFrame();
     if (drag_mode_ == DRAG_SHOOT && frame) {
         p.setPen(QPen(Qt::white, 0.025f));
         rj_geometry::Point ball = frame->ball().pos();

From 2d6becf16f648212f90a8a19bd2ed610037bf920 Mon Sep 17 00:00:00 2001
From: root <saisanat@gmail.com>
Date: Wed, 16 Sep 2026 23:30:14 -0400
Subject: [PATCH 05/21] holy i think this works

---
 src/rj_common/include/rj_common/debug_drawer.hpp   | 5 ++++-
 src/rj_common/include/rj_common/debug_drawings.hpp | 4 ++--
 src/rj_common/include/rj_common/live_frame.hpp     | 4 ++--
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/rj_common/include/rj_common/debug_drawer.hpp b/src/rj_common/include/rj_common/debug_drawer.hpp
index 252381e3297..596600aaac0 100644
--- a/src/rj_common/include/rj_common/debug_drawer.hpp
+++ b/src/rj_common/include/rj_common/debug_drawer.hpp
@@ -84,7 +84,10 @@ class DebugDrawer {
      */
     void commit_frame() {
         published_ = std::move(current_);
-        current_.clear();
+        current_.clear();   
+        for (const QString& string : debug_layers_) {
+            current_.debug_layers_.push_back(string.toStdString());
+        }
     }
 
     const DebugDrawFrame& published_frame() const { return published_; }
diff --git a/src/rj_common/include/rj_common/debug_drawings.hpp b/src/rj_common/include/rj_common/debug_drawings.hpp
index 917bf41a436..d6cc23bc1a0 100644
--- a/src/rj_common/include/rj_common/debug_drawings.hpp
+++ b/src/rj_common/include/rj_common/debug_drawings.hpp
@@ -86,7 +86,7 @@ struct DebugDrawFrame {
     std::vector<DebugArc> arcs;
     std::vector<DebugText> texts;
     std::vector<DebugRobotPath> robot_paths;
-    std::vector<std::string> debug_layers;
+    std::vector<std::string> debug_layers_;
 
     void clear() {
         paths.clear();
@@ -95,6 +95,6 @@ struct DebugDrawFrame {
         arcs.clear();
         texts.clear();
         robot_paths.clear();
-        debug_layers.clear();
+        debug_layers_.clear();
     }
 };
diff --git a/src/rj_common/include/rj_common/live_frame.hpp b/src/rj_common/include/rj_common/live_frame.hpp
index f502134dcda..1e9f928a062 100644
--- a/src/rj_common/include/rj_common/live_frame.hpp
+++ b/src/rj_common/include/rj_common/live_frame.hpp
@@ -69,8 +69,8 @@ struct LiveFrame {
     const std::vector<DebugArc>& debug_arcs() const { return debug_draw_frame.arcs; }
     const std::vector<DebugPath>& debug_polygons() const { return debug_draw_frame.polygons; }
     const std::vector<DebugText>& debug_texts() const { return debug_draw_frame.texts; }
-    int debug_layers_size() const { return static_cast<int>(debug_draw_frame.debug_layers.size()); }
-    const std::string& debug_layers(int i) const { return debug_draw_frame.debug_layers.at(i); }
+    int debug_layers_size() const { return static_cast<int>(debug_draw_frame.debug_layers_.size()); }
+    const std::string& debug_layers(int i) const { return debug_draw_frame.debug_layers_.at(i); }
 
     const std::vector<LiveRobot>& self() const { return self_; }
     const std::vector<LiveRobot>& opp() const { return opp_; }

From 8c70f3a4860e3ce3cd97c9cde8cb02516dc85a1d Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Wed, 16 Sep 2026 23:32:03 -0400
Subject: [PATCH 06/21] Fix Code Style On sd/rm-logger (#2559)

automated style fixes

Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com>
---
 src/rj_common/include/rj_common/context.hpp   |  2 +-
 .../include/rj_common/debug_drawer.hpp        |  2 +-
 .../include/rj_common/live_frame.hpp          | 27 +++++++-----
 src/rj_ui/include/rj_ui/field_view.hpp        |  2 +-
 src/rj_ui/include/rj_ui/processor.hpp         |  2 +-
 .../include/rj_ui/robot_status_widget.hpp     |  7 +--
 src/rj_ui/src/field_view.cpp                  |  4 +-
 src/rj_ui/src/main_window.cpp                 |  9 ++--
 src/rj_ui/src/processor.cpp                   |  1 -
 src/rj_ui/src/robot_status_widget.cpp         | 43 ++++++++++++-------
 .../src/ros2_temp/debug_draw_interface.cpp    |  3 +-
 src/rj_utils/include/rj_utils/log_utils.hpp   |  4 +-
 12 files changed, 61 insertions(+), 45 deletions(-)

diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index 944160b07e5..abbd71eb829 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -10,13 +10,13 @@
 #include "rj_common/debug_drawer.hpp"
 #include "rj_common/game_settings.hpp"
 #include "rj_common/game_state.hpp"
+#include "rj_common/live_frame.hpp"
 #include "rj_common/planning/robot_constraints.hpp"
 #include "rj_common/planning/trajectory.hpp"
 #include "rj_common/radio/robot_status.hpp"
 #include "rj_common/robot_intent.hpp"
 #include "rj_common/team_info.hpp"
 #include "rj_common/world_state.hpp"
-#include "rj_common/live_frame.hpp"
 
 struct Context {
     Context() : debug_drawer(this) {}
diff --git a/src/rj_common/include/rj_common/debug_drawer.hpp b/src/rj_common/include/rj_common/debug_drawer.hpp
index 596600aaac0..0d7728efc99 100644
--- a/src/rj_common/include/rj_common/debug_drawer.hpp
+++ b/src/rj_common/include/rj_common/debug_drawer.hpp
@@ -84,7 +84,7 @@ class DebugDrawer {
      */
     void commit_frame() {
         published_ = std::move(current_);
-        current_.clear();   
+        current_.clear();
         for (const QString& string : debug_layers_) {
             current_.debug_layers_.push_back(string.toStdString());
         }
diff --git a/src/rj_common/include/rj_common/live_frame.hpp b/src/rj_common/include/rj_common/live_frame.hpp
index 1e9f928a062..36aa5e67fae 100644
--- a/src/rj_common/include/rj_common/live_frame.hpp
+++ b/src/rj_common/include/rj_common/live_frame.hpp
@@ -7,12 +7,11 @@
 #include <vector>
 
 #include "rj_common/control/motion_setpoint.hpp"
+#include "rj_common/debug_drawings.hpp"
 #include "rj_common/radio/robot_status.hpp"
 #include "rj_common/robot_intent.hpp"
 #include "rj_common/time.hpp"
 #include "rj_common/world_state.hpp"
-#include "rj_common/debug_drawings.hpp"
-#include "rj_common/radio/robot_status.hpp"
 
 namespace rj_common {
 
@@ -24,7 +23,9 @@ struct LiveRobot {
     const rj_geometry::Point& pos() const { return position; }
     float angle() const { return static_cast<float>(heading); }
     bool has_ball_sense_status() const { return true; }
-    BallSenseStatus ball_sense_status() const { return has_ball ? BallSenseStatus::HasBall : BallSenseStatus::NoBall; }
+    BallSenseStatus ball_sense_status() const {
+        return has_ball ? BallSenseStatus::HasBall : BallSenseStatus::NoBall;
+    }
     bool has_kicker_works() const { return false; }
     bool kicker_works() const { return kicker_ok; }
     const std::vector<MotorStatus>& motor_status() const { return motors; }
@@ -43,7 +44,6 @@ struct LiveRobot {
     std::vector<DebugText> texts;
 };
 
-
 struct LiveBall {
     const rj_geometry::Point& pos() const { return position; }
     const rj_geometry::Point& vel() const { return velocity; }
@@ -64,12 +64,16 @@ struct LiveFrame {
     bool has_ball() const { return ball_state.has_value(); }
     const LiveBall& ball() const { return *ball_state; }
     const std::vector<DebugPath>& debug_paths() const { return debug_draw_frame.paths; }
-    const std::vector<DebugRobotPath>& debug_robot_paths() const { return debug_draw_frame.robot_paths; }
+    const std::vector<DebugRobotPath>& debug_robot_paths() const {
+        return debug_draw_frame.robot_paths;
+    }
     const std::vector<DebugCircle>& debug_circles() const { return debug_draw_frame.circles; }
     const std::vector<DebugArc>& debug_arcs() const { return debug_draw_frame.arcs; }
     const std::vector<DebugPath>& debug_polygons() const { return debug_draw_frame.polygons; }
     const std::vector<DebugText>& debug_texts() const { return debug_draw_frame.texts; }
-    int debug_layers_size() const { return static_cast<int>(debug_draw_frame.debug_layers_.size()); }
+    int debug_layers_size() const {
+        return static_cast<int>(debug_draw_frame.debug_layers_.size());
+    }
     const std::string& debug_layers(int i) const { return debug_draw_frame.debug_layers_.at(i); }
 
     const std::vector<LiveRobot>& self() const { return self_; }
@@ -92,18 +96,19 @@ struct LiveFrame {
     std::string yellow_name;
     DebugDrawFrame debug_draw_frame;
 
-    static void fill_robot(LiveRobot* out, int shell_id, RobotState const& state, RobotStatus const* status) {
+    static void fill_robot(LiveRobot* out, int shell_id, RobotState const& state,
+                           RobotStatus const* status) {
         out->shell_id = shell_id;
-    
+
         out->position = state.pose.position();
         out->heading = state.pose.heading();
-    
+
         if (status != nullptr) {
             out->has_ball = status->has_ball;
             out->motors.resize(5);
             for (int i = 0; i < 5; i++) {
-                out->motors.at(i) = (status->motors_healthy[i] ? MotorStatus::Good
-                                                        : MotorStatus::Fault);
+                out->motors.at(i) =
+                    (status->motors_healthy[i] ? MotorStatus::Good : MotorStatus::Fault);
             }
             out->kicker_ok = status->kicker != RobotStatus::KickerState::kFailed;
             out->battery = static_cast<float>(status->battery_voltage);
diff --git a/src/rj_ui/include/rj_ui/field_view.hpp b/src/rj_ui/include/rj_ui/field_view.hpp
index 210c0c1c257..460920dce2d 100644
--- a/src/rj_ui/include/rj_ui/field_view.hpp
+++ b/src/rj_ui/include/rj_ui/field_view.hpp
@@ -15,9 +15,9 @@
 #include <QStyleOption>
 
 #include <rj_common/field_dimensions.hpp>
+#include <rj_common/live_frame.hpp>
 #include <rj_common/planning/motion_constraints.hpp>
 #include <rj_common/vision_dot_pattern.hpp>
-#include <rj_common/live_frame.hpp>
 #include <rj_constants/constants.hpp>
 #include <rj_geometry/point.hpp>
 #include <rj_geometry/transform_matrix.hpp>
diff --git a/src/rj_ui/include/rj_ui/processor.hpp b/src/rj_ui/include/rj_ui/processor.hpp
index f47c4fb2d45..8147c0a61f3 100644
--- a/src/rj_ui/include/rj_ui/processor.hpp
+++ b/src/rj_ui/include/rj_ui/processor.hpp
@@ -13,8 +13,8 @@
 #include <spdlog/spdlog.h>
 
 #include <rj_common/context.hpp>
-#include <rj_common/live_frame.hpp>
 #include <rj_common/debug_drawer.hpp>
+#include <rj_common/live_frame.hpp>
 #include <rj_common/node.hpp>
 #include <rj_constants/constants.hpp>
 #include <rj_constants/topic_names.hpp>
diff --git a/src/rj_ui/include/rj_ui/robot_status_widget.hpp b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
index 9db679b272b..6f3eca07011 100644
--- a/src/rj_ui/include/rj_ui/robot_status_widget.hpp
+++ b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
@@ -7,9 +7,9 @@
 #include <QtWidgets>
 #include <spdlog/spdlog.h>
 
-#include <rj_common/status.hpp>
-#include <rj_common/radio/robot_status.hpp>
 #include <rj_common/live_frame.hpp>
+#include <rj_common/radio/robot_status.hpp>
+#include <rj_common/status.hpp>
 #include <rj_common/world_state.hpp>
 
 #include "rj_ui/battery_profile.hpp"
@@ -24,7 +24,8 @@ class RobotStatusWidget : public QWidget {
 public:
     RobotStatusWidget(QWidget* parent = nullptr, Qt::WindowFlags f = nullptr);
 
-    void load(const RobotStatus& status, const std::optional<rj_common::LiveFrame::Robot>& maybe_robot, bool blueTeam);
+    void load(const RobotStatus& status,
+              const std::optional<rj_common::LiveFrame::Robot>& maybe_robot, bool blueTeam);
 
     [[nodiscard]] int shellID() const;
     void setShellID(int shellID);
diff --git a/src/rj_ui/src/field_view.cpp b/src/rj_ui/src/field_view.cpp
index 7d2a9bc14b6..1e8c4d5e64b 100644
--- a/src/rj_ui/src/field_view.cpp
+++ b/src/rj_ui/src/field_view.cpp
@@ -430,8 +430,8 @@ void FieldView::drawTeamSpace(QPainter& p) {
         QPointF center = qpointf(r.pos());
 
         bool faulty = false;
-        if (r.has_ball_sense_status() &&
-            (r.ball_sense_status() == rj_common::Dazzled || r.ball_sense_status() == rj_common::Failed)) {
+        if (r.has_ball_sense_status() && (r.ball_sense_status() == rj_common::Dazzled ||
+                                          r.ball_sense_status() == rj_common::Failed)) {
             faulty = true;
         }
         if (r.has_kicker_works() && !r.kicker_works()) {
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index 1a4e7d3f386..07cad7c0b94 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -64,7 +64,7 @@ void calcMinimumWidth(QWidget* widget, const QString& text) {
 
 MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* parent)
     : QMainWindow(parent),
-    _updateCount(0),
+      _updateCount(0),
       _lastUpdateTime(RJ::now()),
       _processor(processor),
       context_(processor->context()),
@@ -75,7 +75,7 @@ MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* par
     qRegisterMetaType<QVector<int>>("QVector<int>");
     _ui.setupUi(this);
     _ui.fieldView->history(&_history);
-    
+
     _ui.logTree->setVisible(false);
     _ui.logHistoryLocation->setVisible(false);
     _ui.logPlaybackRewind->setVisible(false);
@@ -334,7 +334,8 @@ void MainWindow::updateViews() {
 
     // // Set the history vector by taking the last kHistorySize elements of the
     // // "long" history, or fewer if _longHistory is shorter.
-    _history.assign(context_->frames.end() - std::min(kHistorySize, context_->frames.size()), context_->frames.end());
+    _history.assign(context_->frames.end() - std::min(kHistorySize, context_->frames.size()),
+                    context_->frames.end());
 
     // Update field view
     _ui.fieldView->update();
@@ -395,7 +396,7 @@ void MainWindow::updateViews() {
         for (size_t shell = 0; shell < kNumShells; shell++) {
             // Search for the corresponding references.
             auto maybe_rx = [&]() -> std::optional<std::reference_wrapper<const RobotStatus>> {
-                for (auto & i : live_frame->radio_rx_) {
+                for (auto& i : live_frame->radio_rx_) {
                     if (i.shell_id == shell) {
                         return i;
                     }
diff --git a/src/rj_ui/src/processor.cpp b/src/rj_ui/src/processor.cpp
index 813a7d3e9e7..dd708fcb7ea 100644
--- a/src/rj_ui/src/processor.cpp
+++ b/src/rj_ui/src/processor.cpp
@@ -30,7 +30,6 @@ Processor::Processor(bool /*sim*/, bool /*blue_team*/) : loop_mutex_() {
 
     world_state_queue_ = std::make_unique<AsyncWorldStateMsgQueue>(
         "world_state_queue", vision_filter::topics::kWorldStateTopic);
-
 }
 
 Processor::~Processor() { stop(); }
diff --git a/src/rj_ui/src/robot_status_widget.cpp b/src/rj_ui/src/robot_status_widget.cpp
index eb9b26e1263..7e913e38196 100644
--- a/src/rj_ui/src/robot_status_widget.cpp
+++ b/src/rj_ui/src/robot_status_widget.cpp
@@ -49,17 +49,23 @@ void RobotStatusWidget::setBoardID(const QString& boardID) {
 }
 
 QString RobotStatusWidget::robotModel() const { return _ui.robotModel->text(); }
-void RobotStatusWidget::setRobotModel(const QString& robotModel) { _ui.robotModel->setText(robotModel); }
-void RobotStatusWidget::setWheelFault(int wheelIndex, bool faulty) { _ui.robotWidget->setWheelFault(wheelIndex, faulty); }
-void RobotStatusWidget::setBallSenseFault(bool faulty) { _ui.robotWidget->setBallSenseFault(faulty); }
+void RobotStatusWidget::setRobotModel(const QString& robotModel) {
+    _ui.robotModel->setText(robotModel);
+}
+void RobotStatusWidget::setWheelFault(int wheelIndex, bool faulty) {
+    _ui.robotWidget->setWheelFault(wheelIndex, faulty);
+}
+void RobotStatusWidget::setBallSenseFault(bool faulty) {
+    _ui.robotWidget->setBallSenseFault(faulty);
+}
 void RobotStatusWidget::setHasBall(bool hasBall) { _ui.robotWidget->setHasBall(hasBall); }
 bool RobotStatusWidget::hasRadio() const { return _hasRadio; }
 
 void RobotStatusWidget::setHasRadio(bool hasRadio) {
     if (hasRadio != _hasRadio) {
         _hasRadio = hasRadio;
-        _ui.radioIndicator->setPixmap(QPixmap(QString(
-            hasRadio ? ":icons/radio-connected.svg" : ":icons/radio-disconnected.svg")));
+        _ui.radioIndicator->setPixmap(QPixmap(
+            QString(hasRadio ? ":icons/radio-connected.svg" : ":icons/radio-disconnected.svg")));
     }
 }
 
@@ -68,8 +74,8 @@ bool RobotStatusWidget::hasVision() const { return _hasVision; }
 void RobotStatusWidget::setHasVision(bool hasVision) {
     if (hasVision != _hasVision) {
         _hasVision = hasVision;
-        _ui.visionIndicator->setPixmap(QPixmap(QString(
-            hasVision ? ":icons/vision-available.svg" : ":icons/vision-unavailable.svg")));
+        _ui.visionIndicator->setPixmap(QPixmap(
+            QString(hasVision ? ":icons/vision-available.svg" : ":icons/vision-unavailable.svg")));
     }
 }
 
@@ -97,11 +103,14 @@ void RobotStatusWidget::setShowstopper(bool showstopper) {
     }
 }
 
-void RobotStatusWidget::load(const RobotStatus& status, const std::optional<rj_common::LiveFrame::Robot>& maybe_robot, bool blueTeam) {
+void RobotStatusWidget::load(const RobotStatus& status,
+                             const std::optional<rj_common::LiveFrame::Robot>& maybe_robot,
+                             bool blueTeam) {
     setShellID(status.shell_id);
     setBlueTeam(blueTeam);
-    setRobotModel(status.version == RobotStatus::HardwareVersion::kSimulated ? "Simulation" :
-                  status.version == RobotStatus::HardwareVersion::kFleet2018 ? "RJ2018" : "Unknown Bot");
+    setRobotModel(status.version == RobotStatus::HardwareVersion::kSimulated   ? "Simulation"
+                  : status.version == RobotStatus::HardwareVersion::kFleet2018 ? "RJ2018"
+                                                                               : "Unknown Bot");
     setHasRadio(status.timestamp != RJ::Time{});
     setHasVision(maybe_robot.has_value());
 
@@ -110,8 +119,10 @@ void RobotStatusWidget::load(const RobotStatus& status, const std::optional<rj_c
     for (size_t i = 0; i < status.motors_healthy.size(); ++i) {
         const bool faulty = !status.motors_healthy[i];
         motorFault = motorFault || faulty;
-        if (i < 4) setWheelFault(static_cast<int>(i), faulty);
-        else setBallSenseFault(faulty);
+        if (i < 4)
+            setWheelFault(static_cast<int>(i), faulty);
+        else
+            setBallSenseFault(faulty);
         if (faulty) errors << QString("Motor Fault %1").arg(static_cast<int>(i));
     }
 
@@ -120,10 +131,10 @@ void RobotStatusWidget::load(const RobotStatus& status, const std::optional<rj_c
     if (kickerFault) errors << "Kicker Fault";
     setHasBall(status.has_ball);
 
-    const float battery = status.version == RobotStatus::HardwareVersion::kSimulated
-                              ? 1.0f
-                              : static_cast<float>(kRJ2015BatteryProfile.get_charge_level(
-                                    status.battery_voltage));
+    const float battery =
+        status.version == RobotStatus::HardwareVersion::kSimulated
+            ? 1.0f
+            : static_cast<float>(kRJ2015BatteryProfile.get_charge_level(status.battery_voltage));
     setBatteryLevel(battery);
     setErrorText(errors.join(", "));
     setShowstopper(!maybe_robot.has_value() || motorFault || kickerFault || battery < 0.25f ||
diff --git a/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp b/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
index 8203cd73fa6..e4fa2950856 100644
--- a/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
+++ b/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
@@ -38,7 +38,8 @@ void DebugDrawInterface::run() {
         }
         for (const auto& path : debug_draw->paths) {
             DebugRobotPath& debug_path = context_->debug_drawer.add_debug_path();
-            debug_path.set_layer(context_->debug_drawer.find_debug_layer(QString::fromStdString(layer)));
+            debug_path.set_layer(
+                context_->debug_drawer.find_debug_layer(QString::fromStdString(layer)));
             for (const auto& point : path.points) {
                 DebugRobotPath::DebugRobotPathPoint& new_point = debug_path.add_points();
                 new_point.mutable_pos() = rj_geometry::Point(point.x, point.y);
diff --git a/src/rj_utils/include/rj_utils/log_utils.hpp b/src/rj_utils/include/rj_utils/log_utils.hpp
index 2640b4e06d6..ba6b1c88d21 100644
--- a/src/rj_utils/include/rj_utils/log_utils.hpp
+++ b/src/rj_utils/include/rj_utils/log_utils.hpp
@@ -13,9 +13,7 @@ static inline QColor qcolor(uint32_t value) {
     return QColor(r, g, b, a);
 }
 
-static inline QPointF qpointf(const rj_geometry::Point& pt) {
-    return pt.to_q_point_f();
-}
+static inline QPointF qpointf(const rj_geometry::Point& pt) { return pt.to_q_point_f(); }
 
 static inline uint32_t color(const QColor& color) {
     return (color.red() << 16) | (color.green() << 8) | (color.blue()) | (color.alpha() << 24);

From 7592035c937604a381be0dcf7367896fb508fb8c Mon Sep 17 00:00:00 2001
From: Sanat Dhanyamraju <saisanat@gmail.com>
Date: Fri, 25 Sep 2026 20:58:09 -0400
Subject: [PATCH 07/21] comments

---
 src/rj_common/include/rj_common/context.hpp   |  51 +++--
 .../include/rj_common/debug_drawer.hpp        |   2 +-
 .../include/rj_common/debug_drawings.hpp      |  87 +++-----
 .../include/rj_common/live_frame.hpp          | 119 -----------
 src/rj_common/include/rj_common/ui_frame.hpp  |  60 ++++++
 src/rj_common/src/debug_drawer.cpp            |  44 ++---
 src/rj_common/src/planning/trajectory.cpp     |   8 +-
 src/rj_ui/include/rj_ui/field_view.hpp        |  14 +-
 src/rj_ui/include/rj_ui/main_window.hpp       |   6 +-
 src/rj_ui/include/rj_ui/processor.hpp         |   2 +-
 .../include/rj_ui/robot_status_widget.hpp     |   4 +-
 src/rj_ui/src/field_view.cpp                  | 186 +++++++++---------
 src/rj_ui/src/main_window.cpp                 |  42 ++--
 src/rj_ui/src/processor.cpp                   |   2 +-
 src/rj_ui/src/robot_status_widget.cpp         |   2 +-
 .../src/ros2_temp/debug_draw_interface.cpp    |   8 +-
 src/rj_ui/src/sim_field_view.cpp              |  34 ++--
 17 files changed, 293 insertions(+), 378 deletions(-)
 delete mode 100644 src/rj_common/include/rj_common/live_frame.hpp
 create mode 100644 src/rj_common/include/rj_common/ui_frame.hpp

diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index abbd71eb829..57aee94923f 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -10,12 +10,12 @@
 #include "rj_common/debug_drawer.hpp"
 #include "rj_common/game_settings.hpp"
 #include "rj_common/game_state.hpp"
-#include "rj_common/live_frame.hpp"
 #include "rj_common/planning/robot_constraints.hpp"
 #include "rj_common/planning/trajectory.hpp"
 #include "rj_common/radio/robot_status.hpp"
 #include "rj_common/robot_intent.hpp"
 #include "rj_common/team_info.hpp"
+#include "rj_common/ui_frame.hpp"
 #include "rj_common/world_state.hpp"
 
 struct Context {
@@ -64,58 +64,73 @@ struct Context {
 
     std::string behavior_tree;
 
-    std::vector<std::shared_ptr<rj_common::LiveFrame>> frames;
+    std::vector<std::shared_ptr<rj_common::UIFrame>> frames;
 
     RJ::Time start_time;
 };
 
-static std::shared_ptr<rj_common::LiveFrame> create_log_frame(const Context& context) {
-    // Add everything to the log frame.
-    auto frame = std::make_shared<rj_common::LiveFrame>();
+inline rj_common::UIRobot create_ui_robot(int shell_id, const RobotState& state,
+                    const std::optional<RobotStatus>& status) {
+    rj_common::UIRobot out;
+    out.shell_id = shell_id;
+
+    out.position = state.pose.position();
+    out.heading = state.pose.heading();
+
+    if (status != std::nullopt) {
+        out.has_ball = status->has_ball;
+        out.motors.resize(5);
+        for (int i = 0; i < 5; i++) {
+            out.motors.at(i) =
+                (status->motors_healthy[i] ?
+                    rj_common::MotorStatus::kGood : rj_common::MotorStatus::kFault);
+        }
+        out.kicker_ok = status->kicker != RobotStatus::KickerState::kFailed;
+        out.battery = static_cast<float>(status->battery_voltage);
+    }
+    return out;
+}
 
-    // Debug drawing
+inline std::shared_ptr<rj_common::UIFrame> create_ui_frame(const Context& context) {
+    auto frame = std::make_shared<rj_common::UIFrame>();
+    
     frame->debug_draw_frame = context.debug_drawer.published_frame();
 
     frame->blue = context.blue_team;
 
-    // Our robots
     for (size_t shell = 0; shell < kNumShells; shell++) {
         const auto& state = context.world_state.our_robots.at(shell);
         const auto& status = context.robot_status.at(shell);
 
         if (RJ::now() - status.timestamp < RJ::Seconds(0.5)) {
-            frame->radio_rx_.push_back(status);
+            frame->radio_rx.push_back(status);
         }
 
         if (!state.visible) {
             continue;
         }
 
-        rj_common::LiveFrame::fill_robot(&frame->self_.emplace_back(), shell, state, &status);
+        frame->self.push_back(create_ui_robot(shell, state, status));
     }
 
-    // Opponent robots
     for (size_t shell = 0; shell < kNumShells; shell++) {
         const auto& state = context.world_state.their_robots.at(shell);
         if (!state.visible) {
             continue;
         }
 
-        rj_common::LiveFrame::fill_robot(&frame->opp_.emplace_back(), shell, state, nullptr);
+        frame->opp.push_back(create_ui_robot(shell, state, std::nullopt));
     }
 
-    // Ball
     if (context.world_state.ball.visible) {
         frame->ball_state = {context.world_state.ball.position, context.world_state.ball.velocity};
     }
 
-    // Field
-    frame->manual = context.game_settings.joystick_config.manual_id;
-    frame->defend_plus = context.game_settings.defend_plus_x;
-    frame->use_our = context.game_settings.use_our_half;
-    frame->use_opponent = context.game_settings.use_their_half;
+    frame->manual_id = context.game_settings.joystick_config.manual_id;
+    frame->defend_plus_x = context.game_settings.defend_plus_x;
+    frame->use_our_half = context.game_settings.use_our_half;
+    frame->use_their_half = context.game_settings.use_their_half;
 
-    // Team names
     if (context.blue_team) {
         frame->yellow_name = context.their_info.name;
         frame->blue_name = context.our_info.name;
diff --git a/src/rj_common/include/rj_common/debug_drawer.hpp b/src/rj_common/include/rj_common/debug_drawer.hpp
index 0d7728efc99..5c3bd344e16 100644
--- a/src/rj_common/include/rj_common/debug_drawer.hpp
+++ b/src/rj_common/include/rj_common/debug_drawer.hpp
@@ -86,7 +86,7 @@ class DebugDrawer {
         published_ = std::move(current_);
         current_.clear();
         for (const QString& string : debug_layers_) {
-            current_.debug_layers_.push_back(string.toStdString());
+            current_.debug_layers.push_back(string.toStdString());
         }
     }
 
diff --git a/src/rj_common/include/rj_common/debug_drawings.hpp b/src/rj_common/include/rj_common/debug_drawings.hpp
index d6cc23bc1a0..f87c23f63d5 100644
--- a/src/rj_common/include/rj_common/debug_drawings.hpp
+++ b/src/rj_common/include/rj_common/debug_drawings.hpp
@@ -6,87 +6,54 @@
 #include <rj_geometry/point.hpp>
 
 struct DebugPath {
-    int layer() const { return layer_; }
-    uint32_t color() const { return color_; }
-    int points_size() const { return static_cast<int>(points_.size()); }
-    const rj_geometry::Point& points(int i) const { return points_.at(i); }
-
-    int layer_ = -1;
-    uint32_t color_ = 0;
-    std::vector<rj_geometry::Point> points_;
+    int layer = -1;
+    uint32_t color = 0;
+    std::vector<rj_geometry::Point> points;
 };
 
 struct DebugRobotPath {
     struct DebugRobotPathPoint {
-        const rj_geometry::Point& pos() const { return pos_; }
-        const rj_geometry::Point& vel() const { return vel_; }
-        rj_geometry::Point& mutable_pos() { return pos_; }
-        rj_geometry::Point& mutable_vel() { return vel_; }
-
-        rj_geometry::Point pos_;
-        rj_geometry::Point vel_;
+        rj_geometry::Point pos;
+        rj_geometry::Point vel;
     };
-
-    int layer() const { return layer_; }
-    void set_layer(int layer) { layer_ = layer; }
-    int points_size() const { return static_cast<int>(points_.size()); }
-    const DebugRobotPathPoint& points(int i) const { return points_.at(i); }
-    DebugRobotPathPoint& add_points() { return points_.emplace_back(); }
-
-    int layer_ = -1;
-    std::vector<DebugRobotPathPoint> points_;
+    
+    int layer = -1;
+    std::vector<DebugRobotPathPoint> points;
 };
 
 struct DebugCircle {
-    int layer() const { return layer_; }
-    uint32_t color() const { return color_; }
-    const rj_geometry::Point& center() const { return center_; }
-    float radius() const { return radius_; }
-
-    int layer_ = -1;
-    uint32_t color_ = 0;
-    rj_geometry::Point center_;
-    float radius_ = 0;
+    int layer = -1;
+    uint32_t color = 0;
+    rj_geometry::Point center;
+    float radius = 0;
 };
 
 struct DebugArc {
-    int layer() const { return layer_; }
-    uint32_t color() const { return color_; }
-    const rj_geometry::Point& center() const { return center_; }
-    float radius() const { return radius_; }
-    float start() const { return start_; }
-    float end() const { return end_; }
-
-    int layer_ = -1;
-    uint32_t color_ = 0;
-    rj_geometry::Point center_;
-    float radius_ = 0;
-    float start_ = 0;
-    float end_ = 0;
+    int layer = -1;
+    uint32_t color = 0;
+    rj_geometry::Point center;
+    float radius = 0;
+    float start = 0;
+    float end = 0;
 };
 
 struct DebugText {
-    int layer() const { return layer_; }
-    uint32_t color() const { return color_; }
-    const rj_geometry::Point& pos() const { return pos_; }
-    const std::string& text() const { return text_; }
-    bool center() const { return center_; }
-
-    int layer_ = -1;
-    uint32_t color_ = 0;
-    rj_geometry::Point pos_;
-    std::string text_;
-    bool center_ = true;
+    int layer = -1;
+    uint32_t color = 0;
+    rj_geometry::Point pos;
+    std::string text;
+    bool center = true;
 };
 
-struct DebugDrawFrame {
+class DebugDrawFrame {
+public:
     std::vector<DebugPath> paths;
     std::vector<DebugPath> polygons;
     std::vector<DebugCircle> circles;
     std::vector<DebugArc> arcs;
     std::vector<DebugText> texts;
     std::vector<DebugRobotPath> robot_paths;
-    std::vector<std::string> debug_layers_;
+    std::vector<std::string> debug_layers;
 
     void clear() {
         paths.clear();
@@ -95,6 +62,6 @@ struct DebugDrawFrame {
         arcs.clear();
         texts.clear();
         robot_paths.clear();
-        debug_layers_.clear();
+        debug_layers.clear();
     }
 };
diff --git a/src/rj_common/include/rj_common/live_frame.hpp b/src/rj_common/include/rj_common/live_frame.hpp
deleted file mode 100644
index 36aa5e67fae..00000000000
--- a/src/rj_common/include/rj_common/live_frame.hpp
+++ /dev/null
@@ -1,119 +0,0 @@
-#pragma once
-
-#include <array>
-#include <optional>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "rj_common/control/motion_setpoint.hpp"
-#include "rj_common/debug_drawings.hpp"
-#include "rj_common/radio/robot_status.hpp"
-#include "rj_common/robot_intent.hpp"
-#include "rj_common/time.hpp"
-#include "rj_common/world_state.hpp"
-
-namespace rj_common {
-
-enum BallSenseStatus { NoBall, HasBall, Dazzled, Failed };
-enum MotorStatus { Good, Fault };
-
-struct LiveRobot {
-    int shell() const { return shell_id; }
-    const rj_geometry::Point& pos() const { return position; }
-    float angle() const { return static_cast<float>(heading); }
-    bool has_ball_sense_status() const { return true; }
-    BallSenseStatus ball_sense_status() const {
-        return has_ball ? BallSenseStatus::HasBall : BallSenseStatus::NoBall;
-    }
-    bool has_kicker_works() const { return false; }
-    bool kicker_works() const { return kicker_ok; }
-    const std::vector<MotorStatus>& motor_status() const { return motors; }
-    MotorStatus motor_status(int index) const { return motors.at(index); }
-    bool has_battery_voltage() const { return true; }
-    float battery_voltage() const { return battery; }
-    const std::vector<DebugText>& text() const { return texts; }
-
-    int shell_id = -1;
-    rj_geometry::Point position;
-    double heading = 0;
-    bool has_ball = false;
-    bool kicker_ok = true;
-    float battery = 0;
-    std::vector<MotorStatus> motors;
-    std::vector<DebugText> texts;
-};
-
-struct LiveBall {
-    const rj_geometry::Point& pos() const { return position; }
-    const rj_geometry::Point& vel() const { return velocity; }
-    rj_geometry::Point position;
-    rj_geometry::Point velocity;
-};
-
-struct LiveFrame {
-    using Robot = LiveRobot;
-
-    bool defend_plus_x() const { return defend_plus; }
-    bool use_our_half() const { return use_our; }
-    bool use_opponent_half() const { return use_opponent; }
-    bool blue_team() const { return blue; }
-    int manual_id() const { return manual; }
-    const std::string& team_name_blue() const { return blue_name; }
-    const std::string& team_name_yellow() const { return yellow_name; }
-    bool has_ball() const { return ball_state.has_value(); }
-    const LiveBall& ball() const { return *ball_state; }
-    const std::vector<DebugPath>& debug_paths() const { return debug_draw_frame.paths; }
-    const std::vector<DebugRobotPath>& debug_robot_paths() const {
-        return debug_draw_frame.robot_paths;
-    }
-    const std::vector<DebugCircle>& debug_circles() const { return debug_draw_frame.circles; }
-    const std::vector<DebugArc>& debug_arcs() const { return debug_draw_frame.arcs; }
-    const std::vector<DebugPath>& debug_polygons() const { return debug_draw_frame.polygons; }
-    const std::vector<DebugText>& debug_texts() const { return debug_draw_frame.texts; }
-    int debug_layers_size() const {
-        return static_cast<int>(debug_draw_frame.debug_layers_.size());
-    }
-    const std::string& debug_layers(int i) const { return debug_draw_frame.debug_layers_.at(i); }
-
-    const std::vector<LiveRobot>& self() const { return self_; }
-    const std::vector<LiveRobot>& opp() const { return opp_; }
-    const LiveRobot& self(int index) const { return self_.at(index); }
-    const LiveRobot& opp(int index) const { return opp_.at(index); }
-    int self_size() const { return static_cast<int>(self_.size()); }
-    int opp_size() const { return static_cast<int>(opp_.size()); }
-
-    std::vector<LiveRobot> self_;
-    std::vector<LiveRobot> opp_;
-    std::vector<RobotStatus> radio_rx_;
-    std::optional<LiveBall> ball_state;
-    bool blue = true;
-    bool defend_plus = false;
-    bool use_our = true;
-    bool use_opponent = true;
-    int manual = -1;
-    std::string blue_name;
-    std::string yellow_name;
-    DebugDrawFrame debug_draw_frame;
-
-    static void fill_robot(LiveRobot* out, int shell_id, RobotState const& state,
-                           RobotStatus const* status) {
-        out->shell_id = shell_id;
-
-        out->position = state.pose.position();
-        out->heading = state.pose.heading();
-
-        if (status != nullptr) {
-            out->has_ball = status->has_ball;
-            out->motors.resize(5);
-            for (int i = 0; i < 5; i++) {
-                out->motors.at(i) =
-                    (status->motors_healthy[i] ? MotorStatus::Good : MotorStatus::Fault);
-            }
-            out->kicker_ok = status->kicker != RobotStatus::KickerState::kFailed;
-            out->battery = static_cast<float>(status->battery_voltage);
-        }
-    }
-};
-
-}  // namespace rj_common
diff --git a/src/rj_common/include/rj_common/ui_frame.hpp b/src/rj_common/include/rj_common/ui_frame.hpp
new file mode 100644
index 00000000000..0c9e76d0eca
--- /dev/null
+++ b/src/rj_common/include/rj_common/ui_frame.hpp
@@ -0,0 +1,60 @@
+#pragma once
+
+#include <array>
+#include <optional>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "rj_common/control/motion_setpoint.hpp"
+#include "rj_common/debug_drawings.hpp"
+#include "rj_common/radio/robot_status.hpp"
+#include "rj_common/robot_intent.hpp"
+#include "rj_common/time.hpp"
+#include "rj_common/world_state.hpp"
+
+namespace rj_common {
+
+enum BallSenseStatus { 
+    kNoBall = 0,
+    kHasBall,
+    kDazzled,
+    kFailed
+};
+enum MotorStatus { 
+    kGood = 0,
+    kFault
+};
+
+struct UIRobot {
+    int shell_id = -1;
+    rj_geometry::Point position;
+    double heading = 0;
+    bool has_ball = false;
+    bool kicker_ok = true;
+    float battery = 0;
+    std::vector<MotorStatus> motors;
+    std::vector<DebugText> texts;
+};
+
+struct UIBall {
+    rj_geometry::Point position;
+    rj_geometry::Point velocity;
+};
+
+struct UIFrame {
+    std::vector<UIRobot> self;
+    std::vector<UIRobot> opp;
+    std::vector<RobotStatus> radio_rx;
+    std::optional<UIBall> ball_state;
+    bool blue = true;
+    bool defend_plus_x = false;
+    bool use_our_half = true;
+    bool use_their_half = true;
+    int manual_id = -1;
+    std::string blue_name;
+    std::string yellow_name;
+    DebugDrawFrame debug_draw_frame;
+};
+
+}  // namespace rj_common
diff --git a/src/rj_common/src/debug_drawer.cpp b/src/rj_common/src/debug_drawer.cpp
index 96c6bed72dd..1c2f6a9a6cb 100644
--- a/src/rj_common/src/debug_drawer.cpp
+++ b/src/rj_common/src/debug_drawer.cpp
@@ -23,11 +23,11 @@ int DebugDrawer::find_debug_layer(QString layer) {
 void DebugDrawer::draw_polygon(const rj_geometry::Point* pts, int n, const QColor& qc,
                                const QString& layer) {
     DebugPath dbg;
-    dbg.layer_ = find_debug_layer(layer);
-    dbg.color_ = color(qc);
-    dbg.points_.reserve(n);
+    dbg.layer = find_debug_layer(layer);
+    dbg.color = color(qc);
+    dbg.points.reserve(n);
     for (int i = 0; i < n; ++i) {
-        dbg.points_.push_back(pts[i]);
+        dbg.points.push_back(pts[i]);
     }
     current_.polygons.push_back(std::move(dbg));
 }
@@ -45,21 +45,21 @@ void DebugDrawer::draw_polygon(const rj_geometry::Polygon& polygon, const QColor
 void DebugDrawer::draw_circle(rj_geometry::Point center, float radius, const QColor& qc,
                               const QString& layer) {
     DebugCircle dbg;
-    dbg.layer_ = find_debug_layer(layer);
-    dbg.center_ = center;
-    dbg.radius_ = radius;
-    dbg.color_ = color(qc);
+    dbg.layer = find_debug_layer(layer);
+    dbg.center = center;
+    dbg.radius = radius;
+    dbg.color = color(qc);
     current_.circles.push_back(dbg);
 }
 
 void DebugDrawer::draw_arc(const rj_geometry::Arc& arc, const QColor& qc, const QString& layer) {
     DebugArc dbg;
-    dbg.layer_ = find_debug_layer(layer);
-    dbg.center_ = arc.center();
-    dbg.radius_ = static_cast<float>(arc.radius());
-    dbg.start_ = static_cast<float>(arc.start());
-    dbg.end_ = static_cast<float>(arc.end());
-    dbg.color_ = color(qc);
+    dbg.layer = find_debug_layer(layer);
+    dbg.center = arc.center();
+    dbg.radius = static_cast<float>(arc.radius());
+    dbg.start = static_cast<float>(arc.start());
+    dbg.end = static_cast<float>(arc.end());
+    dbg.color = color(qc);
     current_.arcs.push_back(dbg);
 }
 
@@ -100,10 +100,10 @@ void DebugDrawer::draw_shape_set(const rj_geometry::ShapeSet& shapes, const QCol
 void DebugDrawer::draw_line(const rj_geometry::Segment& line, const QColor& qc,
                             const QString& layer) {
     DebugPath dbg;
-    dbg.layer_ = find_debug_layer(layer);
-    dbg.points_.push_back(line.pt[0]);
-    dbg.points_.push_back(line.pt[1]);
-    dbg.color_ = color(qc);
+    dbg.layer = find_debug_layer(layer);
+    dbg.points.push_back(line.pt[0]);
+    dbg.points.push_back(line.pt[1]);
+    dbg.color = color(qc);
     current_.paths.push_back(std::move(dbg));
 }
 
@@ -115,10 +115,10 @@ void DebugDrawer::draw_line(rj_geometry::Point p0, rj_geometry::Point p1, const
 void DebugDrawer::draw_text(const QString& text, rj_geometry::Point pos, const QColor& qc,
                             const QString& layer) {
     DebugText dbg;
-    dbg.layer_ = find_debug_layer(layer);
-    dbg.text_ = text.toStdString();
-    dbg.pos_ = pos;
-    dbg.color_ = color(qc);
+    dbg.layer = find_debug_layer(layer);
+    dbg.text = text.toStdString();
+    dbg.pos = pos;
+    dbg.color = color(qc);
     current_.texts.push_back(std::move(dbg));
 }
 
diff --git a/src/rj_common/src/planning/trajectory.cpp b/src/rj_common/src/planning/trajectory.cpp
index 1621baf1783..3da3c1ab110 100644
--- a/src/rj_common/src/planning/trajectory.cpp
+++ b/src/rj_common/src/planning/trajectory.cpp
@@ -185,12 +185,12 @@ void Trajectory::draw(DebugDrawer* drawer,
                       std::optional<rj_geometry::Point> alt_text_position) const {
     if (instants_.size() > 1) {
         DebugRobotPath& dbg_path = drawer->add_debug_path();
-        dbg_path.set_layer(drawer->find_debug_layer("Motion"));
+        dbg_path.layer = drawer->find_debug_layer("Motion");
 
         for (const RobotInstant& instant : instants_) {
-            DebugRobotPath::DebugRobotPathPoint& pt = dbg_path.add_points();
-            pt.mutable_pos() = instant.pose.position();
-            pt.mutable_vel() = instant.velocity.linear();
+            DebugRobotPath::DebugRobotPathPoint& pt = dbg_path.points.emplace_back();
+            pt.pos = instant.pose.position();
+            pt.vel = instant.velocity.linear();
         }
     }
 
diff --git a/src/rj_ui/include/rj_ui/field_view.hpp b/src/rj_ui/include/rj_ui/field_view.hpp
index 460920dce2d..f71d64774a1 100644
--- a/src/rj_ui/include/rj_ui/field_view.hpp
+++ b/src/rj_ui/include/rj_ui/field_view.hpp
@@ -15,8 +15,8 @@
 #include <QStyleOption>
 
 #include <rj_common/field_dimensions.hpp>
-#include <rj_common/live_frame.hpp>
 #include <rj_common/planning/motion_constraints.hpp>
+#include <rj_common/ui_frame.hpp>
 #include <rj_common/vision_dot_pattern.hpp>
 #include <rj_constants/constants.hpp>
 #include <rj_geometry/point.hpp>
@@ -46,8 +46,8 @@ class FieldView : public QWidget {
         }
     }
 
-    void history(const std::vector<std::shared_ptr<rj_common::LiveFrame> >* value) {
-        _history = value;
+    void setHistory(std::vector<std::shared_ptr<rj_common::UIFrame>>&& value) {
+        _history = std::move(value);
     }
 
     void rotate(int value);
@@ -76,7 +76,7 @@ class FieldView : public QWidget {
 
     void drawText(QPainter& p, QPointF pos, const QString& text,
                   bool center = true) const;
-    static void drawField(QPainter& p, const rj_common::LiveFrame* frame);
+    static void drawField(QPainter& p, const std::shared_ptr<rj_common::UIFrame>& frame);
     void drawRobot(QPainter& p, bool blueRobot, int ID, QPointF pos,
                    float theta, bool hasBall = false, bool faulty = false);
     void drawCoords(QPainter& p);
@@ -95,9 +95,9 @@ class FieldView : public QWidget {
 
 protected:
     // Returns a pointer to the most recent frame, or null if none is available.
-    std::shared_ptr<rj_common::LiveFrame> currentFrame();
+    std::shared_ptr<rj_common::UIFrame> currentFrame();
 
-    // Coordirj_common::LiveFramenate transformations
+    // Coordinate transformations
     rj_geometry::TransformMatrix _screenToWorld;
     rj_geometry::TransformMatrix _worldToTeam;
     rj_geometry::TransformMatrix _teamToWorld;
@@ -111,7 +111,7 @@ class FieldView : public QWidget {
     // How many degrees to rotate text so it shows up the right way on screen
     int _textRotation{};
 
-    const std::vector<std::shared_ptr<rj_common::LiveFrame> >* _history{};
+    std::vector<std::shared_ptr<rj_common::UIFrame>> _history;
 
     QVector<bool> _layerVisible;
 };
diff --git a/src/rj_ui/include/rj_ui/main_window.hpp b/src/rj_ui/include/rj_ui/main_window.hpp
index 6a58d4bf51f..f03ec8d5a50 100644
--- a/src/rj_ui/include/rj_ui/main_window.hpp
+++ b/src/rj_ui/include/rj_ui/main_window.hpp
@@ -190,7 +190,7 @@ private Q_SLOTS:
 private:
     void updateStatus();
     void updateFromRefPacket(bool haveExternalReferee);
-    void updateDebugLayers(const rj_common::LiveFrame& frame);
+    void updateDebugLayers(const rj_common::UIFrame& frame);
     static std::string formatLabelBold(Side side, const std::string& label);
 
     enum class StatusType { Status_OK, Status_Warning, Status_Fail };
@@ -248,9 +248,7 @@ private Q_SLOTS:
 
     std::mutex* context__mutex;
     Context* context_;
-
-    std::vector<std::shared_ptr<rj_common::LiveFrame>> _history{};
-
+    
     // ROS Compatibility stuff
     void send_quick_command(const PlayState& state);
 
diff --git a/src/rj_ui/include/rj_ui/processor.hpp b/src/rj_ui/include/rj_ui/processor.hpp
index 8147c0a61f3..27a9a5599e1 100644
--- a/src/rj_ui/include/rj_ui/processor.hpp
+++ b/src/rj_ui/include/rj_ui/processor.hpp
@@ -14,8 +14,8 @@
 
 #include <rj_common/context.hpp>
 #include <rj_common/debug_drawer.hpp>
-#include <rj_common/live_frame.hpp>
 #include <rj_common/node.hpp>
+#include <rj_common/ui_frame.hpp>
 #include <rj_constants/constants.hpp>
 #include <rj_constants/topic_names.hpp>
 #include <rj_geometry/point.hpp>
diff --git a/src/rj_ui/include/rj_ui/robot_status_widget.hpp b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
index 6f3eca07011..864be83b4aa 100644
--- a/src/rj_ui/include/rj_ui/robot_status_widget.hpp
+++ b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
@@ -7,9 +7,9 @@
 #include <QtWidgets>
 #include <spdlog/spdlog.h>
 
-#include <rj_common/live_frame.hpp>
 #include <rj_common/radio/robot_status.hpp>
 #include <rj_common/status.hpp>
+#include <rj_common/ui_frame.hpp>
 #include <rj_common/world_state.hpp>
 
 #include "rj_ui/battery_profile.hpp"
@@ -25,7 +25,7 @@ class RobotStatusWidget : public QWidget {
     RobotStatusWidget(QWidget* parent = nullptr, Qt::WindowFlags f = nullptr);
 
     void load(const RobotStatus& status,
-              const std::optional<rj_common::LiveFrame::Robot>& maybe_robot, bool blueTeam);
+              const std::optional<rj_common::UIRobot>& maybe_robot, bool blueTeam);
 
     [[nodiscard]] int shellID() const;
     void setShellID(int shellID);
diff --git a/src/rj_ui/src/field_view.cpp b/src/rj_ui/src/field_view.cpp
index 1e8c4d5e64b..2457f4e8cb4 100644
--- a/src/rj_ui/src/field_view.cpp
+++ b/src/rj_ui/src/field_view.cpp
@@ -16,6 +16,7 @@
 
 #include <rj_common/field_dimensions.hpp>
 #include <rj_common/planning/motion_constraints.hpp>
+#include <rj_common/ui_frame.hpp>
 #include <rj_common/vision_dot_pattern.hpp>
 #include <rj_constants/constants.hpp>
 #include <rj_geometry/point.hpp>
@@ -46,7 +47,6 @@ FieldView::FieldView(QWidget* parent) : QWidget(parent) {
     showDotPatterns = false;
     showTeamNames = false;
     _rotate = 1;
-    _history = nullptr;
 
     // Green background
     QPalette p = palette();
@@ -80,11 +80,11 @@ void FieldView::mouseMoveEvent(QMouseEvent* me) {
     _posLabel->setText(s);
 }
 
-std::shared_ptr<rj_common::LiveFrame> FieldView::currentFrame() {
-    if (_history != nullptr && !_history->empty()) {
-        return _history->back();
+std::shared_ptr<rj_common::UIFrame> FieldView::currentFrame() {
+    if (!_history.empty()) {
+        return _history.back();
     }
-    return std::shared_ptr<rj_common::LiveFrame>();
+    return std::shared_ptr<rj_common::UIFrame>{};
 }
 
 void FieldView::rotate(int value) {
@@ -126,7 +126,7 @@ void FieldView::paintEvent(QPaintEvent* /*e*/) {
     }
 
     // Get the latest LogFrame
-    const std::shared_ptr<rj_common::LiveFrame> frame = currentFrame();
+    const std::shared_ptr<rj_common::UIFrame> frame = currentFrame();
 
     if (!frame) {
         // No data available yet
@@ -148,14 +148,14 @@ void FieldView::paintEvent(QPaintEvent* /*e*/) {
     _worldToTeam = rj_geometry::TransformMatrix();
     _worldToTeam *= rj_geometry::TransformMatrix::translate(
         0, FieldDimensions::current_dimensions.length() / 2.0f);
-    if (frame->defend_plus_x()) {
+    if (frame->defend_plus_x) {
         _worldToTeam *= rj_geometry::TransformMatrix::rotate(-M_PI / 2.0);
     } else {
         _worldToTeam *= rj_geometry::TransformMatrix::rotate(M_PI / 2.0);
     }
 
     _teamToWorld = rj_geometry::TransformMatrix();
-    if (frame->defend_plus_x()) {
+    if (frame->defend_plus_x) {
         _teamToWorld *= rj_geometry::TransformMatrix::rotate(M_PI / 2.0);
     } else {
         _teamToWorld *= rj_geometry::TransformMatrix::rotate(-M_PI / 2.0);
@@ -168,7 +168,7 @@ void FieldView::paintEvent(QPaintEvent* /*e*/) {
 
     // Everything after this point is drawn in team space.
     // Transform that into world space depending on defending goal.
-    if (frame->defend_plus_x()) {
+    if (frame->defend_plus_x) {
         p.rotate(90);
     } else {
         p.rotate(-90);
@@ -176,14 +176,14 @@ void FieldView::paintEvent(QPaintEvent* /*e*/) {
     p.translate(0, -FieldDimensions::current_dimensions.length() / 2.0f);
 
     // Text has to be rotated so it is always upright on screen
-    _textRotation = -_rotate * 90 + (frame->defend_plus_x() ? -90 : 90);
+    _textRotation = -_rotate * 90 + (frame->defend_plus_x ? -90 : 90);
 
     drawTeamSpace(p);
 }
 
 void FieldView::drawWorldSpace(QPainter& p) {
     // Get the latest LogFrame
-    const rj_common::LiveFrame* frame = _history->back().get();
+    const std::shared_ptr<rj_common::UIFrame> frame = _history.back();
 
     // Draw the field
     drawField(p, frame);
@@ -192,7 +192,7 @@ void FieldView::drawWorldSpace(QPainter& p) {
 
 void FieldView::drawTeamSpace(QPainter& p) {
     // Get the latest LogFrame
-    const rj_common::LiveFrame* frame = _history->back().get();
+    const std::shared_ptr<rj_common::UIFrame> frame = _history.back();
 
     if (showTeamNames) {
         // Draw Team Names
@@ -201,22 +201,22 @@ void FieldView::drawTeamSpace(QPainter& p) {
         fontstyle.setPointSize(20);
         p.setFont(fontstyle);
         p.setPen(bluePen);
-        drawText(p, QPointF(0, 4.75), QString(frame->team_name_blue().c_str()),
+        drawText(p, QPointF(0, 4.75), QString(frame->blue_name.c_str()),
                  true);  // Blue
         p.setPen(yellowPen);
-        drawText(p, QPointF(0, 1.75), QString(frame->team_name_yellow().c_str()),
+        drawText(p, QPointF(0, 1.75), QString(frame->yellow_name.c_str()),
                  true);  // Yellow
         p.setFont(savedFont);
     }
 
     // Block off half the field
-    if (!frame->use_our_half()) {
+    if (!frame->use_our_half) {
         const float FX = FieldDimensions::current_dimensions.floor_width() / 2;
         const float FY1 = -FieldDimensions::current_dimensions.border();
         const float FY2 = FieldDimensions::current_dimensions.length() / 2;
         p.fillRect(QRectF(QPointF(-FX, FY1), QPointF(FX, FY2)), QColor(0, 0, 0, 128));
     }
-    if (!frame->use_opponent_half()) {
+    if (!frame->use_their_half) {
         const float FX = FieldDimensions::current_dimensions.floor_width() / 2;
         const float FY1 = FieldDimensions::current_dimensions.length() / 2;
         const float FY2 = FieldDimensions::current_dimensions.length() +
@@ -233,11 +233,11 @@ void FieldView::drawTeamSpace(QPainter& p) {
     QPainterPath ballTrail;
     bool move = false;
     int ballTrailLength = 60;
-    for (unsigned int i = _history->size() - std::min<int>(_history->size(), ballTrailLength);
-         i < _history->size(); ++i) {
-        const rj_common::LiveFrame* oldFrame = _history->at(i).get();
-        if (oldFrame != nullptr && oldFrame->has_ball()) {
-            QPointF pos = qpointf(oldFrame->ball().pos());
+    for (unsigned int i = _history.size() - std::min<int>(_history.size(), ballTrailLength);
+         i < _history.size(); ++i) {
+        const std::shared_ptr<rj_common::UIFrame> oldFrame = _history.at(i);
+        if (oldFrame != nullptr && oldFrame->ball_state.has_value()) {
+            QPointF pos = qpointf(oldFrame->ball_state->position);
 
             if (!move) {
                 ballTrail.moveTo(pos);
@@ -253,26 +253,26 @@ void FieldView::drawTeamSpace(QPainter& p) {
     p.drawPath(ballTrail);
 
     // Debug lines
-    for (const DebugPath& path : frame->debug_paths()) {
-        if (path.layer() < 0 || layerVisible(path.layer())) {
-            tempPen.setColor(qcolor(path.color()));
+    for (const DebugPath& path : frame->debug_draw_frame.paths) {
+        if (path.layer < 0 || layerVisible(path.layer)) {
+            tempPen.setColor(qcolor(path.color));
             p.setPen(tempPen);
             std::vector<QPointF> pts;
-            for (int i = 0; i < path.points_size(); ++i) {
-                pts.push_back(qpointf(path.points(i)));
+            for (int i = 0; i < path.points.size(); ++i) {
+                pts.push_back(qpointf(path.points.at(i)));
             }
             p.drawPolyline(pts.data(), pts.size());
         }
     }
 
-    for (const DebugRobotPath& path : frame->debug_robot_paths()) {
-        if (path.layer() < 0 || layerVisible(path.layer())) {
-            for (int i = 0; i < path.points_size() - 1; ++i) {
-                const DebugRobotPath::DebugRobotPathPoint& from = path.points(i);
-                const DebugRobotPath::DebugRobotPathPoint& to = path.points(i + 1);
+    for (const DebugRobotPath& path : frame->debug_draw_frame.robot_paths) {
+        if (!path.points.empty() && (path.layer < 0 || layerVisible(path.layer))) {
+            for (int i = 0; i < path.points.size() - 1; ++i) {
+                const DebugRobotPath::DebugRobotPathPoint& from = path.points.at(i);
+                const DebugRobotPath::DebugRobotPathPoint& to = path.points.at(i + 1);
 
-                rj_geometry::Point avgVel = (rj_geometry::Point(path.points(i).vel()) +
-                                            rj_geometry::Point(path.points(i + 1).vel())) /
+                rj_geometry::Point avgVel = (rj_geometry::Point(path.points.at(i).vel) +
+                                            rj_geometry::Point(path.points.at(i + 1).vel)) /
                                            2;
                 auto pcntMaxSpd =
                     static_cast<float>(avgVel.mag() / planning::MotionConstraints{}.max_speed);
@@ -283,38 +283,38 @@ void FieldView::drawTeamSpace(QPainter& p) {
                 pen.setWidthF(0.03);
                 p.setPen(pen);
 
-                const rj_geometry::Point fromPos = rj_geometry::Point(from.pos());
-                const rj_geometry::Point toPos = rj_geometry::Point(to.pos());
+                const rj_geometry::Point fromPos = rj_geometry::Point(from.pos);
+                const rj_geometry::Point toPos = rj_geometry::Point(to.pos);
                 p.drawLine(fromPos.to_q_point_f(), toPos.to_q_point_f());
             }
         }
     }
 
     // Debug circles
-    for (const DebugCircle& c : frame->debug_circles()) {
-        if (c.layer() < 0 || layerVisible(c.layer())) {
-            QColor fill_color(c.color());
+    for (const DebugCircle& c : frame->debug_draw_frame.circles) {
+        if (c.layer < 0 || layerVisible(c.layer)) {
+            QColor fill_color(c.color);
             fill_color.setAlpha(0);
             p.setBrush(fill_color);
 
-            QColor color(c.color());
+            QColor color(c.color);
             color.setAlpha(255);
             tempPen.setColor(color);
             p.setPen(tempPen);
-            p.drawEllipse(qpointf(c.center()), c.radius(), c.radius());
+            p.drawEllipse(qpointf(c.center), c.radius, c.radius);
         }
     }
 
     // Debug arcs
-    for (const DebugArc& a : frame->debug_arcs()) {
-        if (a.layer() < 0 || layerVisible(a.layer())) {
-            tempPen.setColor(a.color());
+    for (const DebugArc& a : frame->debug_draw_frame.arcs) {
+        if (a.layer < 0 || layerVisible(a.layer)) {
+            tempPen.setColor(a.color);
             p.setPen(tempPen);
 
-            const auto& c = a.center();
-            auto t1 = a.start();
-            auto t2 = a.end();
-            auto R = a.radius();
+            const auto& c = a.center;
+            auto t1 = a.start;
+            auto t2 = a.end;
+            auto R = a.radius;
 
             QRectF rect;
             rect.setX(-R + c.x());
@@ -331,14 +331,14 @@ void FieldView::drawTeamSpace(QPainter& p) {
 
     // Debug polygons
     p.setPen(Qt::NoPen);
-    for (const DebugPath& polygon : frame->debug_polygons()) {
-        if (polygon.layer() < 0 || layerVisible(polygon.layer())) {
-            if (polygon.points_size() < 3) {
-                fprintf(stderr, "Ignoring DebugPolygon with %d points\n", polygon.points_size());
+    for (const DebugPath& polygon : frame->debug_draw_frame.polygons) {
+        if (polygon.layer < 0 || layerVisible(polygon.layer)) {
+            if (polygon.points.size() < 3) {
+                fprintf(stderr, "Ignoring DebugPolygon with %zu points\n", polygon.points.size());
                 continue;
             }
 
-            QColor color = qcolor(polygon.color());
+            QColor color = qcolor(polygon.color);
             p.setBrush(color);
 
             color.setAlpha(255);
@@ -346,8 +346,8 @@ void FieldView::drawTeamSpace(QPainter& p) {
             p.setPen(tempPen);
 
             std::vector<QPointF> pts;
-            for (int i = 0; i < polygon.points_size(); ++i) {
-                pts.push_back(qpointf(polygon.points(i)));
+            for (int i = 0; i < polygon.points.size(); ++i) {
+                pts.push_back(qpointf(polygon.points.at(i)));
             }
             p.drawConvexPolygon(pts.data(), pts.size());
         }
@@ -355,11 +355,11 @@ void FieldView::drawTeamSpace(QPainter& p) {
     p.setBrush(Qt::NoBrush);
 
     // Debug text
-    for (const DebugText& text : frame->debug_texts()) {
-        if (text.layer() < 0 || layerVisible(text.layer())) {
-            tempPen.setColor(text.color());
+    for (const DebugText& text : frame->debug_draw_frame.texts) {
+        if (text.layer < 0 || layerVisible(text.layer)) {
+            tempPen.setColor(text.color);
             p.setPen(tempPen);
-            drawText(p, qpointf(text.pos()), QString::fromStdString(text.text()), text.center());
+            drawText(p, qpointf(text.pos), QString::fromStdString(text.text), text.center);
         }
     }
 
@@ -371,14 +371,14 @@ void FieldView::drawTeamSpace(QPainter& p) {
 
     /// populate @cometTrails with the past locations of each robot
     int pastLocationCount = 40;  // number of past locations to show
-    int start = std::max(0, static_cast<int>(_history->size()) - pastLocationCount);
-    for (size_t i = start; i < _history->size(); i++) {
-        const rj_common::LiveFrame* oldFrame = _history->at(i).get();
+    int start = std::max(0, static_cast<int>(_history.size()) - pastLocationCount);
+    for (size_t i = start; i < _history.size(); i++) {
+        const std::shared_ptr<rj_common::UIFrame> oldFrame = _history.at(i);
         if (oldFrame != nullptr) {
-            for (const rj_common::LiveFrame::Robot& r : oldFrame->self()) {
-                pair<int, int> key(1, r.shell());
+            for (const rj_common::UIRobot& r : oldFrame->self) {
+                pair<int, int> key(1, r.shell_id);
                 if (cometTrails.find(key) != cometTrails.end() || i == start) {
-                    QPointF pt = qpointf(r.pos());
+                    QPointF pt = qpointf(r.position);
                     if (i == start) {
                         cometTrails[key].moveTo(pt);
                     } else {
@@ -387,10 +387,10 @@ void FieldView::drawTeamSpace(QPainter& p) {
                 }
             }
 
-            for (const rj_common::LiveFrame::Robot& r : oldFrame->opp()) {
-                pair<int, int> key(2, r.shell());
+            for (const rj_common::UIRobot& r : oldFrame->opp) {
+                pair<int, int> key(2, r.shell_id);
                 if (cometTrails.find(key) != cometTrails.end() || i == start) {
-                    QPointF pt = qpointf(r.pos());
+                    QPointF pt = qpointf(r.position);
                     if (i == start) {
                         cometTrails[key].moveTo(pt);
                     } else {
@@ -406,7 +406,7 @@ void FieldView::drawTeamSpace(QPainter& p) {
     for (auto& kv : cometTrails) {
         // note: kv.first.first is 1 for our team and 2 for their team
         bool ourTeam = kv.first.first == 1;
-        bool blue = frame->blue_team();
+        bool blue = frame->blue;
         const QColor color = (ourTeam ^ blue) != 0 ? Qt::yellow : Qt::blue;
         QPen pen(color, cometTrailPenSize);
         pen.setCapStyle(Qt::RoundCap);
@@ -419,38 +419,32 @@ void FieldView::drawTeamSpace(QPainter& p) {
     QPointF rtY = qpointf(rj_geometry::Point(-1, 0).rotated(-_rotate * 90));
 
     // Opponent robots
-    for (const rj_common::LiveFrame::Robot& r : frame->opp()) {
-        drawRobot(p, !frame->blue_team(), r.shell(), qpointf(r.pos()), r.angle(),
-                  r.ball_sense_status() == rj_common::HasBall);
+    for (const rj_common::UIRobot& r : frame->opp) {
+        drawRobot(p, !frame->blue, r.shell_id, qpointf(r.position), r.heading,
+                  r.has_ball);
     }
 
     // Our robots
-    int manualID = frame->manual_id();
-    for (const rj_common::LiveFrame::Robot& r : frame->self()) {
-        QPointF center = qpointf(r.pos());
+    int manualID = frame->manual_id;
+    for (const rj_common::UIRobot& r : frame->self) {
+        QPointF center = qpointf(r.position);
 
         bool faulty = false;
-        if (r.has_ball_sense_status() && (r.ball_sense_status() == rj_common::Dazzled ||
-                                          r.ball_sense_status() == rj_common::Failed)) {
-            faulty = true;
-        }
-        if (r.has_kicker_works() && !r.kicker_works()) {
-            // 			faulty = true;
-        }
-        for (int i = 0; i < r.motor_status().size(); ++i) {
-            if (r.motor_status(i) != rj_common::Good) {
+
+        for (int i = 0; i < r.motors.size(); ++i) {
+            if (r.motors.at(i) != rj_common::kGood) {
                 faulty = true;
             }
         }
-        if (r.has_battery_voltage() && r.battery_voltage() <= 14.3f) {
+        if (r.battery <= 14.3f) {
             faulty = true;
         }
 
-        drawRobot(p, frame->blue_team(), r.shell(), center, r.angle(),
-                  r.ball_sense_status() == rj_common::HasBall, faulty);
+        drawRobot(p, frame->blue, r.shell_id, center, r.heading,
+                  r.has_ball, faulty);
 
         // Highlight the manually controlled robot
-        if (manualID == r.shell()) {
+        if (manualID == r.shell_id) {
             p.setPen(greenPen);
             const float r = kRobotRadius + .05;
             p.drawEllipse(center, r, r);
@@ -458,20 +452,20 @@ void FieldView::drawTeamSpace(QPainter& p) {
 
         // Robot text
         QPointF textPos = center - rtX * 0.2 - rtY * (kRobotRadius + 0.1);
-        for (const DebugText& text : r.text()) {
-            if (text.layer() < 0 || layerVisible(text.layer())) {
-                tempPen.setColor(text.color());
+        for (const DebugText& text : r.texts) {
+            if (text.layer < 0 || layerVisible(text.layer)) {
+                tempPen.setColor(text.color);
                 p.setPen(tempPen);
-                drawText(p, textPos, QString::fromStdString(text.text()), false);
+                drawText(p, textPos, QString::fromStdString(text.text), false);
                 textPos -= rtY * 0.1;
             }
         }
     }
 
     // Current ball position and velocity
-    if (frame->has_ball()) {
-        QPointF pos = qpointf(frame->ball().pos());
-        QPointF vel = qpointf(frame->ball().vel());
+    if (frame->ball_state.has_value()) {
+        QPointF pos = qpointf(frame->ball_state->position);
+        QPointF vel = qpointf(frame->ball_state->velocity);
 
         p.setPen(ballPen);
         p.setBrush(ballColor);
@@ -517,7 +511,7 @@ void FieldView::drawCoords(QPainter& p) {
     drawText(p, QPointF(0.1, 0.25), "+Y");
 }
 
-void FieldView::drawField(QPainter& p, const rj_common::LiveFrame* frame) {
+void FieldView::drawField(QPainter& p, const std::shared_ptr<rj_common::UIFrame>& frame) {
     p.save();
 
     // reset to center
@@ -583,7 +577,7 @@ void FieldView::drawField(QPainter& p, const rj_common::LiveFrame* frame) {
     float y[2] = {FieldDimensions::current_dimensions.goal_width() / 2.0f,
                   -FieldDimensions::current_dimensions.goal_width() / 2.0f};
 
-    bool flip = frame->blue_team() ^ frame->defend_plus_x();
+    bool flip = frame->blue ^ frame->defend_plus_x;
 
     QColor goalColor = flip ? Qt::yellow : Qt::blue;
     p.setPen(QPen(goalColor,
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index 07cad7c0b94..0cd22331069 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -74,7 +74,6 @@ MainWindow::MainWindow(Processor* processor, bool has_external_ref, QWidget* par
 
     qRegisterMetaType<QVector<int>>("QVector<int>");
     _ui.setupUi(this);
-    _ui.fieldView->history(&_history);
 
     _ui.logTree->setVisible(false);
     _ui.logHistoryLocation->setVisible(false);
@@ -319,9 +318,10 @@ void MainWindow::updateViews() {
 
     auto value = _ui.logHistoryLocation->value();
 
-    std::shared_ptr<rj_common::LiveFrame> live_frame;
+    std::shared_ptr<rj_common::UIFrame> ui_frame;
 
     // Grab frames
+    std::vector<std::shared_ptr<rj_common::UIFrame>> history;
     {
         std::lock_guard<std::mutex> lock(*context__mutex);
         if (context_->frames.empty()) {
@@ -329,13 +329,13 @@ void MainWindow::updateViews() {
             return;
         }
 
-        live_frame = context_->frames.back();
+        ui_frame = context_->frames.back();
+        // Set the history vector by taking the last kHistorySize elements of the
+        // full context history, or fewer if context is shorter.
+        history.assign(context_->frames.end() - std::min(kHistorySize, context_->frames.size()),
+                        context_->frames.end());
     }
-
-    // // Set the history vector by taking the last kHistorySize elements of the
-    // // "long" history, or fewer if _longHistory is shorter.
-    _history.assign(context_->frames.end() - std::min(kHistorySize, context_->frames.size()),
-                    context_->frames.end());
+    _ui.fieldView->setHistory(std::move(history));
 
     // Update field view
     _ui.fieldView->update();
@@ -345,8 +345,8 @@ void MainWindow::updateViews() {
 
     // Check if any debug layers have been added
     // (layers should never be removed)
-    if (live_frame) {
-        updateDebugLayers(*live_frame);
+    if (ui_frame) {
+        updateDebugLayers(*ui_frame);
     }
 
     /**************************************************************************/
@@ -391,12 +391,12 @@ void MainWindow::updateViews() {
     /**************************************************************************/
     /********************** Update robot status list **************************/
     /**************************************************************************/
-    if (live_frame != nullptr) {
+    if (ui_frame != nullptr) {
         // update robot status list
         for (size_t shell = 0; shell < kNumShells; shell++) {
             // Search for the corresponding references.
             auto maybe_rx = [&]() -> std::optional<std::reference_wrapper<const RobotStatus>> {
-                for (auto& i : live_frame->radio_rx_) {
+                for (auto& i : ui_frame->radio_rx) {
                     if (i.shell_id == shell) {
                         return i;
                     }
@@ -404,10 +404,10 @@ void MainWindow::updateViews() {
                 return std::nullopt;
             }();
             auto maybe_robot =
-                [&]() -> std::optional<std::reference_wrapper<const rj_common::LiveFrame::Robot>> {
-                for (int i = 0; i < live_frame->self_size(); i++) {
-                    if (live_frame->self(i).shell() == shell) {
-                        return live_frame->self(i);
+                [&]() -> std::optional<std::reference_wrapper<const rj_common::UIRobot>> {
+                for (int i = 0; i < ui_frame->self.size(); i++) {
+                    if (ui_frame->self.at(i).shell_id == shell) {
+                        return ui_frame->self.at(i);
                     }
                 }
                 return std::nullopt;
@@ -461,7 +461,7 @@ void MainWindow::updateViews() {
             }
 
             if (statusWidget != nullptr) {
-                statusWidget->load(rx, maybe_robot, live_frame->blue_team());
+                statusWidget->load(rx, maybe_robot, ui_frame->blue);
             }
         }
     }
@@ -894,10 +894,10 @@ void MainWindow::on_debugLayers_itemChanged(QListWidgetItem* item) {
     _ui.fieldView->update();
 }
 
-void MainWindow::updateDebugLayers(const rj_common::LiveFrame& frame) {
-    if (frame.debug_layers_size() > _ui.debugLayers->count()) {
-        for (int i = _ui.debugLayers->count(); i < frame.debug_layers_size(); ++i) {
-            const QString name = QString::fromStdString(frame.debug_layers(i));
+void MainWindow::updateDebugLayers(const rj_common::UIFrame& frame) {
+    if (frame.debug_draw_frame.debug_layers.size() > _ui.debugLayers->count()) {
+        for (int i = _ui.debugLayers->count(); i < frame.debug_draw_frame.debug_layers.size(); ++i) {
+            const QString name = QString::fromStdString(frame.debug_draw_frame.debug_layers.at(i));
             bool enabled = !std::any_of(defaultHiddenLayers.begin(), defaultHiddenLayers.end(),
                                         [&](const QString& string) { return string == name; });
             addLayer(i, name, enabled);
diff --git a/src/rj_ui/src/processor.cpp b/src/rj_ui/src/processor.cpp
index dd708fcb7ea..2866cb83216 100644
--- a/src/rj_ui/src/processor.cpp
+++ b/src/rj_ui/src/processor.cpp
@@ -109,7 +109,7 @@ void Processor::run() {
             std::lock_guard<std::mutex> lock(loop_mutex_);
             debug_draw_sub_->run();
             context_.debug_drawer.commit_frame();
-            context_.frames.emplace_back(create_log_frame(context_));
+            context_.frames.emplace_back(create_ui_frame(context_));
         }
 
         ////////////////
diff --git a/src/rj_ui/src/robot_status_widget.cpp b/src/rj_ui/src/robot_status_widget.cpp
index 7e913e38196..10dbddd3b23 100644
--- a/src/rj_ui/src/robot_status_widget.cpp
+++ b/src/rj_ui/src/robot_status_widget.cpp
@@ -104,7 +104,7 @@ void RobotStatusWidget::setShowstopper(bool showstopper) {
 }
 
 void RobotStatusWidget::load(const RobotStatus& status,
-                             const std::optional<rj_common::LiveFrame::Robot>& maybe_robot,
+                             const std::optional<rj_common::UIRobot>& maybe_robot,
                              bool blueTeam) {
     setShellID(status.shell_id);
     setBlueTeam(blueTeam);
diff --git a/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp b/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
index e4fa2950856..e40abe91159 100644
--- a/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
+++ b/src/rj_ui/src/ros2_temp/debug_draw_interface.cpp
@@ -38,11 +38,11 @@ void DebugDrawInterface::run() {
         }
         for (const auto& path : debug_draw->paths) {
             DebugRobotPath& debug_path = context_->debug_drawer.add_debug_path();
-            debug_path.set_layer(
-                context_->debug_drawer.find_debug_layer(QString::fromStdString(layer)));
+            debug_path.layer =
+                context_->debug_drawer.find_debug_layer(QString::fromStdString(layer));
             for (const auto& point : path.points) {
-                DebugRobotPath::DebugRobotPathPoint& new_point = debug_path.add_points();
-                new_point.mutable_pos() = rj_geometry::Point(point.x, point.y);
+                DebugRobotPath::DebugRobotPathPoint& new_point = debug_path.points.emplace_back();
+                new_point.pos = rj_geometry::Point(point.x, point.y);
             }
         }
         for (const auto& text : debug_draw->debug_text) {
diff --git a/src/rj_ui/src/sim_field_view.cpp b/src/rj_ui/src/sim_field_view.cpp
index e470a47293e..198d1167ed9 100644
--- a/src/rj_ui/src/sim_field_view.cpp
+++ b/src/rj_ui/src/sim_field_view.cpp
@@ -44,20 +44,20 @@ void SimFieldView::mousePressEvent(QMouseEvent* me) {
 
     rj_geometry::Point pos = _worldToTeam * _screenToWorld * me->pos();
 
-    std::shared_ptr<rj_common::LiveFrame> frame = currentFrame();
+    std::shared_ptr<rj_common::UIFrame> frame = currentFrame();
     if (me->button() == Qt::LeftButton && frame) {
         drag_robot_ = -1;
-        for (const rj_common::LiveFrame::Robot& r : frame->self()) {
-            if (pos.near_point(r.pos(), kRobotRadius)) {
-                drag_robot_ = r.shell();
-                drag_robot_blue_ = frame->blue_team();
+        for (const rj_common::UIRobot& r : frame->self) {
+            if (pos.near_point(r.position, kRobotRadius)) {
+                drag_robot_ = r.shell_id;
+                drag_robot_blue_ = frame->blue;
                 break;
             }
         }
-        for (const rj_common::LiveFrame::Robot& r : frame->opp()) {
-            if (pos.near_point(r.pos(), kRobotRadius)) {
-                drag_robot_ = r.shell();
-                drag_robot_blue_ = !frame->blue_team();
+        for (const rj_common::UIRobot& r : frame->opp) {
+            if (pos.near_point(r.position, kRobotRadius)) {
+                drag_robot_ = r.shell_id;
+                drag_robot_blue_ = !frame->blue;
                 break;
             }
         }
@@ -68,21 +68,21 @@ void SimFieldView::mousePressEvent(QMouseEvent* me) {
 
         drag_mode_ = DRAG_PLACE;
     } else if (me->button() == Qt::RightButton && frame) {
-        if (frame->has_ball() && pos.near_point(frame->ball().pos(), 10 * kBallRadius)) {
+        if (frame->ball_state.has_value() && pos.near_point(frame->ball_state->position, 10 * kBallRadius)) {
             // Drag to shoot the ball
             drag_mode_ = DRAG_SHOOT;
             drag_point_ = pos;
         } else {
             // Look for a robot selection
             int new_id = -1;
-            for (int i = 0; i < frame->self_size(); ++i) {
-                if (pos.dist_to(frame->self(i).pos()) < kRobotRadius) {
-                    new_id = frame->self(i).shell();
+            for (int i = 0; i < frame->self.size(); ++i) {
+                if (pos.dist_to(frame->self.at(i).position) < kRobotRadius) {
+                    new_id = frame->self.at(i).shell_id;
                     break;
                 }
             }
 
-            if (new_id != frame->manual_id()) {
+            if (new_id != frame->manual_id) {
                 robotSelected(new_id);
             }
         }
@@ -154,10 +154,10 @@ void SimFieldView::drawTeamSpace(QPainter& p) {
     FieldView::drawTeamSpace(p);
 
     // Simulator drag-to-shoot
-    std::shared_ptr<rj_common::LiveFrame> frame = currentFrame();
-    if (drag_mode_ == DRAG_SHOOT && frame) {
+    std::shared_ptr<rj_common::UIFrame> frame = currentFrame();
+    if (drag_mode_ == DRAG_SHOOT && frame && frame->ball_state.has_value()) {
         p.setPen(QPen(Qt::white, 0.025f));
-        rj_geometry::Point ball = frame->ball().pos();
+        rj_geometry::Point ball = frame->ball_state->position;
         p.drawLine(ball.to_q_point_f(), drag_point_.to_q_point_f());
 
         if (ball != drag_point_) {

From 78be2130c102d26813531a9e36738839180ee2ec Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 25 Sep 2026 21:13:52 -0400
Subject: [PATCH 08/21] Fix Code Style On sd/rm-logger (#2568)

automated style fixes

Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com>
---
 src/rj_common/include/rj_common/context.hpp        |  9 ++++-----
 src/rj_common/include/rj_common/debug_drawings.hpp |  2 +-
 src/rj_common/include/rj_common/ui_frame.hpp       | 12 ++----------
 src/rj_ui/include/rj_ui/main_window.hpp            |  2 +-
 src/rj_ui/include/rj_ui/processor.hpp              |  2 +-
 src/rj_ui/include/rj_ui/robot_status_widget.hpp    |  4 ++--
 src/rj_ui/src/field_view.cpp                       | 10 ++++------
 src/rj_ui/src/main_window.cpp                      |  5 +++--
 src/rj_ui/src/robot_status_widget.cpp              |  3 +--
 src/rj_ui/src/sim_field_view.cpp                   |  3 ++-
 10 files changed, 21 insertions(+), 31 deletions(-)

diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index 33bf0e01a3e..4fb55c9ea64 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -70,7 +70,7 @@ struct Context {
 };
 
 inline rj_common::UIRobot create_ui_robot(int shell_id, const RobotState& state,
-                    const std::optional<RobotStatus>& status) {
+                                          const std::optional<RobotStatus>& status) {
     rj_common::UIRobot out;
     out.shell_id = shell_id;
 
@@ -81,9 +81,8 @@ inline rj_common::UIRobot create_ui_robot(int shell_id, const RobotState& state,
         out.has_ball = status->has_ball;
         out.motors.resize(5);
         for (int i = 0; i < 5; i++) {
-            out.motors.at(i) =
-                (status->motors_healthy[i] ?
-                    rj_common::MotorStatus::kGood : rj_common::MotorStatus::kFault);
+            out.motors.at(i) = (status->motors_healthy[i] ? rj_common::MotorStatus::kGood
+                                                          : rj_common::MotorStatus::kFault);
         }
         out.kicker_ok = status->kicker != RobotStatus::KickerState::kFailed;
         out.battery = static_cast<float>(status->battery_voltage);
@@ -93,7 +92,7 @@ inline rj_common::UIRobot create_ui_robot(int shell_id, const RobotState& state,
 
 inline std::shared_ptr<rj_common::UIFrame> create_ui_frame(const Context& context) {
     auto frame = std::make_shared<rj_common::UIFrame>();
-    
+
     frame->debug_draw_frame = context.debug_drawer.published_frame();
 
     frame->blue = context.blue_team;
diff --git a/src/rj_common/include/rj_common/debug_drawings.hpp b/src/rj_common/include/rj_common/debug_drawings.hpp
index f87c23f63d5..ca0fdef024b 100644
--- a/src/rj_common/include/rj_common/debug_drawings.hpp
+++ b/src/rj_common/include/rj_common/debug_drawings.hpp
@@ -16,7 +16,7 @@ struct DebugRobotPath {
         rj_geometry::Point pos;
         rj_geometry::Point vel;
     };
-    
+
     int layer = -1;
     std::vector<DebugRobotPathPoint> points;
 };
diff --git a/src/rj_common/include/rj_common/ui_frame.hpp b/src/rj_common/include/rj_common/ui_frame.hpp
index 0c9e76d0eca..9810fbbe90c 100644
--- a/src/rj_common/include/rj_common/ui_frame.hpp
+++ b/src/rj_common/include/rj_common/ui_frame.hpp
@@ -15,16 +15,8 @@
 
 namespace rj_common {
 
-enum BallSenseStatus { 
-    kNoBall = 0,
-    kHasBall,
-    kDazzled,
-    kFailed
-};
-enum MotorStatus { 
-    kGood = 0,
-    kFault
-};
+enum BallSenseStatus { kNoBall = 0, kHasBall, kDazzled, kFailed };
+enum MotorStatus { kGood = 0, kFault };
 
 struct UIRobot {
     int shell_id = -1;
diff --git a/src/rj_ui/include/rj_ui/main_window.hpp b/src/rj_ui/include/rj_ui/main_window.hpp
index 8789cac680f..87dafc5c461 100644
--- a/src/rj_ui/include/rj_ui/main_window.hpp
+++ b/src/rj_ui/include/rj_ui/main_window.hpp
@@ -248,7 +248,7 @@ private Q_SLOTS:
 
     std::mutex* context__mutex;
     Context* context_;
-    
+
     // ROS Compatibility stuff
     void send_quick_command(const PlayState& state);
 
diff --git a/src/rj_ui/include/rj_ui/processor.hpp b/src/rj_ui/include/rj_ui/processor.hpp
index 8f0dc14cba5..812da871bff 100644
--- a/src/rj_ui/include/rj_ui/processor.hpp
+++ b/src/rj_ui/include/rj_ui/processor.hpp
@@ -15,8 +15,8 @@
 #include <rj_common/context.hpp>
 #include <rj_common/debug_drawer.hpp>
 #include <rj_common/node.hpp>
-#include <rj_common/ui_frame.hpp>
 #include <rj_common/topic_names.hpp>
+#include <rj_common/ui_frame.hpp>
 #include <rj_geometry/point.hpp>
 #include <rj_geometry/pose.hpp>
 #include <rj_geometry/transform_matrix.hpp>
diff --git a/src/rj_ui/include/rj_ui/robot_status_widget.hpp b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
index 864be83b4aa..02567bc9a6f 100644
--- a/src/rj_ui/include/rj_ui/robot_status_widget.hpp
+++ b/src/rj_ui/include/rj_ui/robot_status_widget.hpp
@@ -24,8 +24,8 @@ class RobotStatusWidget : public QWidget {
 public:
     RobotStatusWidget(QWidget* parent = nullptr, Qt::WindowFlags f = nullptr);
 
-    void load(const RobotStatus& status,
-              const std::optional<rj_common::UIRobot>& maybe_robot, bool blueTeam);
+    void load(const RobotStatus& status, const std::optional<rj_common::UIRobot>& maybe_robot,
+              bool blueTeam);
 
     [[nodiscard]] int shellID() const;
     void setShellID(int shellID);
diff --git a/src/rj_ui/src/field_view.cpp b/src/rj_ui/src/field_view.cpp
index 9b300caa411..618bd269c09 100644
--- a/src/rj_ui/src/field_view.cpp
+++ b/src/rj_ui/src/field_view.cpp
@@ -271,8 +271,8 @@ void FieldView::drawTeamSpace(QPainter& p) {
                 const DebugRobotPath::DebugRobotPathPoint& to = path.points.at(i + 1);
 
                 rj_geometry::Point avgVel = (rj_geometry::Point(path.points.at(i).vel) +
-                                            rj_geometry::Point(path.points.at(i + 1).vel)) /
-                                           2;
+                                             rj_geometry::Point(path.points.at(i + 1).vel)) /
+                                            2;
                 auto pcntMaxSpd =
                     static_cast<float>(avgVel.mag() / planning::MotionConstraints{}.max_speed);
                 QColor mixedColor(std::max(0, std::min((int)(255 * pcntMaxSpd), 255)), 0,
@@ -419,8 +419,7 @@ void FieldView::drawTeamSpace(QPainter& p) {
 
     // Opponent robots
     for (const rj_common::UIRobot& r : frame->opp) {
-        drawRobot(p, !frame->blue, r.shell_id, qpointf(r.position), r.heading,
-                  r.has_ball);
+        drawRobot(p, !frame->blue, r.shell_id, qpointf(r.position), r.heading, r.has_ball);
     }
 
     // Our robots
@@ -439,8 +438,7 @@ void FieldView::drawTeamSpace(QPainter& p) {
             faulty = true;
         }
 
-        drawRobot(p, frame->blue, r.shell_id, center, r.heading,
-                  r.has_ball, faulty);
+        drawRobot(p, frame->blue, r.shell_id, center, r.heading, r.has_ball, faulty);
 
         // Highlight the manually controlled robot
         if (manualID == r.shell_id) {
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index 30f96cf850e..28f3c18a536 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -333,7 +333,7 @@ void MainWindow::updateViews() {
         // Set the history vector by taking the last kHistorySize elements of the
         // full context history, or fewer if context is shorter.
         history.assign(context_->frames.end() - std::min(kHistorySize, context_->frames.size()),
-                        context_->frames.end());
+                       context_->frames.end());
     }
     _ui.fieldView->setHistory(std::move(history));
 
@@ -896,7 +896,8 @@ void MainWindow::on_debugLayers_itemChanged(QListWidgetItem* item) {
 
 void MainWindow::updateDebugLayers(const rj_common::UIFrame& frame) {
     if (frame.debug_draw_frame.debug_layers.size() > _ui.debugLayers->count()) {
-        for (int i = _ui.debugLayers->count(); i < frame.debug_draw_frame.debug_layers.size(); ++i) {
+        for (int i = _ui.debugLayers->count(); i < frame.debug_draw_frame.debug_layers.size();
+             ++i) {
             const QString name = QString::fromStdString(frame.debug_draw_frame.debug_layers.at(i));
             bool enabled = !std::any_of(defaultHiddenLayers.begin(), defaultHiddenLayers.end(),
                                         [&](const QString& string) { return string == name; });
diff --git a/src/rj_ui/src/robot_status_widget.cpp b/src/rj_ui/src/robot_status_widget.cpp
index 10dbddd3b23..7925e4ab051 100644
--- a/src/rj_ui/src/robot_status_widget.cpp
+++ b/src/rj_ui/src/robot_status_widget.cpp
@@ -104,8 +104,7 @@ void RobotStatusWidget::setShowstopper(bool showstopper) {
 }
 
 void RobotStatusWidget::load(const RobotStatus& status,
-                             const std::optional<rj_common::UIRobot>& maybe_robot,
-                             bool blueTeam) {
+                             const std::optional<rj_common::UIRobot>& maybe_robot, bool blueTeam) {
     setShellID(status.shell_id);
     setBlueTeam(blueTeam);
     setRobotModel(status.version == RobotStatus::HardwareVersion::kSimulated   ? "Simulation"
diff --git a/src/rj_ui/src/sim_field_view.cpp b/src/rj_ui/src/sim_field_view.cpp
index b66c884edc7..7defc35567a 100644
--- a/src/rj_ui/src/sim_field_view.cpp
+++ b/src/rj_ui/src/sim_field_view.cpp
@@ -67,7 +67,8 @@ void SimFieldView::mousePressEvent(QMouseEvent* me) {
 
         drag_mode_ = DRAG_PLACE;
     } else if (me->button() == Qt::RightButton && frame) {
-        if (frame->ball_state.has_value() && pos.near_point(frame->ball_state->position, 10 * kBallRadius)) {
+        if (frame->ball_state.has_value() &&
+            pos.near_point(frame->ball_state->position, 10 * kBallRadius)) {
             // Drag to shoot the ball
             drag_mode_ = DRAG_SHOOT;
             drag_point_ = pos;

From 4bea22e2cf8a18bcc226c2148fe9af35a3282763 Mon Sep 17 00:00:00 2001
From: rishiso <rishisoni.5678@gmail.com>
Date: Sun, 27 Sep 2026 20:18:33 -0400
Subject: [PATCH 09/21] .

---
 src/rj_common/include/rj_common/context.hpp   | 130 ++++++++----------
 .../include/rj_common/debug_drawer.hpp        |   6 +-
 src/rj_common/include/rj_common/ui_frame.hpp  |  19 +++
 src/rj_ui/src/processor.cpp                   |   2 +-
 4 files changed, 77 insertions(+), 80 deletions(-)

diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index 4fb55c9ea64..9e2d0ed4eb0 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -18,8 +18,9 @@
 #include "rj_common/ui_frame.hpp"
 #include "rj_common/world_state.hpp"
 
-struct Context {
-    Context() : debug_drawer(this) {}
+class Context {
+public:
+    Context() {}
 
     // Delete copy, copy-assign, move, and move-assign because
     // many places are expected to hold Context* pointers.
@@ -28,6 +29,59 @@ struct Context {
     Context(Context&&) = delete;
     Context& operator=(Context&&) = delete;
 
+    // Creates a UIFrame based on the current state of Context
+    // and adds it to the frames vector.
+    void create_ui_frame() {
+        auto frame = std::make_shared<rj_common::UIFrame>();
+
+        frame->debug_draw_frame = debug_drawer.published_frame();
+
+        frame->blue = blue_team;
+
+        for (size_t shell = 0; shell < kNumShells; shell++) {
+            const auto& state = world_state.our_robots.at(shell);
+            const auto& status = robot_status.at(shell);
+
+            if (RJ::now() - status.timestamp < RJ::Seconds(0.5)) {
+                frame->radio_rx.push_back(status);
+            }
+
+            if (!state.visible) {
+                continue;
+            }
+
+            frame->self.push_back(rj_common::UIRobot(shell, state, status));
+        }
+
+        for (size_t shell = 0; shell < kNumShells; shell++) {
+            const auto& state = world_state.their_robots.at(shell);
+            if (!state.visible) {
+                continue;
+            }
+
+            frame->opp.push_back(rj_common::UIRobot(shell, state, std::nullopt));
+        }
+
+        if (world_state.ball.visible) {
+            frame->ball_state = {world_state.ball.position, world_state.ball.velocity};
+        }
+
+        frame->manual_id = game_settings.joystick_config.manual_id;
+        frame->defend_plus_x = game_settings.defend_plus_x;
+        frame->use_our_half = game_settings.use_our_half;
+        frame->use_their_half = game_settings.use_their_half;
+
+        if (blue_team) {
+            frame->yellow_name = their_info.name;
+            frame->blue_name = our_info.name;
+        } else {
+            frame->yellow_name = our_info.name;
+            frame->blue_name = their_info.name;
+        }
+
+        frames.push_back(frame);
+    }
+
     // Gameplay -> Planning, Radio
     std::array<RobotIntent, kNumShells> robot_intents;
     // Motion control -> Radio
@@ -68,75 +122,3 @@ struct Context {
 
     RJ::Time start_time;
 };
-
-inline rj_common::UIRobot create_ui_robot(int shell_id, const RobotState& state,
-                                          const std::optional<RobotStatus>& status) {
-    rj_common::UIRobot out;
-    out.shell_id = shell_id;
-
-    out.position = state.pose.position();
-    out.heading = state.pose.heading();
-
-    if (status != std::nullopt) {
-        out.has_ball = status->has_ball;
-        out.motors.resize(5);
-        for (int i = 0; i < 5; i++) {
-            out.motors.at(i) = (status->motors_healthy[i] ? rj_common::MotorStatus::kGood
-                                                          : rj_common::MotorStatus::kFault);
-        }
-        out.kicker_ok = status->kicker != RobotStatus::KickerState::kFailed;
-        out.battery = static_cast<float>(status->battery_voltage);
-    }
-    return out;
-}
-
-inline std::shared_ptr<rj_common::UIFrame> create_ui_frame(const Context& context) {
-    auto frame = std::make_shared<rj_common::UIFrame>();
-
-    frame->debug_draw_frame = context.debug_drawer.published_frame();
-
-    frame->blue = context.blue_team;
-
-    for (size_t shell = 0; shell < kNumShells; shell++) {
-        const auto& state = context.world_state.our_robots.at(shell);
-        const auto& status = context.robot_status.at(shell);
-
-        if (RJ::now() - status.timestamp < RJ::Seconds(0.5)) {
-            frame->radio_rx.push_back(status);
-        }
-
-        if (!state.visible) {
-            continue;
-        }
-
-        frame->self.push_back(create_ui_robot(shell, state, status));
-    }
-
-    for (size_t shell = 0; shell < kNumShells; shell++) {
-        const auto& state = context.world_state.their_robots.at(shell);
-        if (!state.visible) {
-            continue;
-        }
-
-        frame->opp.push_back(create_ui_robot(shell, state, std::nullopt));
-    }
-
-    if (context.world_state.ball.visible) {
-        frame->ball_state = {context.world_state.ball.position, context.world_state.ball.velocity};
-    }
-
-    frame->manual_id = context.game_settings.joystick_config.manual_id;
-    frame->defend_plus_x = context.game_settings.defend_plus_x;
-    frame->use_our_half = context.game_settings.use_our_half;
-    frame->use_their_half = context.game_settings.use_their_half;
-
-    if (context.blue_team) {
-        frame->yellow_name = context.their_info.name;
-        frame->blue_name = context.our_info.name;
-    } else {
-        frame->yellow_name = context.our_info.name;
-        frame->blue_name = context.their_info.name;
-    }
-
-    return frame;
-}
diff --git a/src/rj_common/include/rj_common/debug_drawer.hpp b/src/rj_common/include/rj_common/debug_drawer.hpp
index 5c3bd344e16..9b347987cda 100644
--- a/src/rj_common/include/rj_common/debug_drawer.hpp
+++ b/src/rj_common/include/rj_common/debug_drawer.hpp
@@ -18,11 +18,9 @@
 
 #include "rj_common/debug_drawings.hpp"
 
-struct Context;
-
 class DebugDrawer {
 public:
-    DebugDrawer(Context* context) : num_debug_layers_(0), context_(context) {}
+    DebugDrawer() : num_debug_layers_(0) {}
 
     const QStringList& debug_layers() const { return debug_layers_; }
 
@@ -102,8 +100,6 @@ class DebugDrawer {
     /// Debug layers in order by ID
     QStringList debug_layers_;
 
-    Context* context_;
-
     DebugDrawFrame current_;
     DebugDrawFrame published_;
 };
diff --git a/src/rj_common/include/rj_common/ui_frame.hpp b/src/rj_common/include/rj_common/ui_frame.hpp
index 9810fbbe90c..0872186b500 100644
--- a/src/rj_common/include/rj_common/ui_frame.hpp
+++ b/src/rj_common/include/rj_common/ui_frame.hpp
@@ -19,6 +19,25 @@ enum BallSenseStatus { kNoBall = 0, kHasBall, kDazzled, kFailed };
 enum MotorStatus { kGood = 0, kFault };
 
 struct UIRobot {
+    UIRobot(int shell_id, const RobotState& state,
+            const std::optional<RobotStatus>& status) {
+        this->shell_id = shell_id;
+
+        position = state.pose.position();
+        heading = state.pose.heading();
+
+        if (status != std::nullopt) {
+            has_ball = status->has_ball;
+            motors.resize(5);
+            for (int i = 0; i < 5; i++) {
+                motors.at(i) = (status->motors_healthy[i] ? rj_common::MotorStatus::kGood
+                                                        : rj_common::MotorStatus::kFault);
+            }
+            kicker_ok = status->kicker != RobotStatus::KickerState::kFailed;
+            battery = static_cast<float>(status->battery_voltage);
+        }
+    }
+
     int shell_id = -1;
     rj_geometry::Point position;
     double heading = 0;
diff --git a/src/rj_ui/src/processor.cpp b/src/rj_ui/src/processor.cpp
index 2866cb83216..6647622bf6f 100644
--- a/src/rj_ui/src/processor.cpp
+++ b/src/rj_ui/src/processor.cpp
@@ -109,7 +109,7 @@ void Processor::run() {
             std::lock_guard<std::mutex> lock(loop_mutex_);
             debug_draw_sub_->run();
             context_.debug_drawer.commit_frame();
-            context_.frames.emplace_back(create_ui_frame(context_));
+            context_.create_ui_frame();
         }
 
         ////////////////

From c350df5376bd2623bf9170fad4ef8fe5503e16d4 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 27 Sep 2026 20:20:45 -0400
Subject: [PATCH 10/21] Fix Code Style On sd/rm-logger (#2572)

automated style fixes

Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com>
---
 src/rj_common/include/rj_common/ui_frame.hpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/rj_common/include/rj_common/ui_frame.hpp b/src/rj_common/include/rj_common/ui_frame.hpp
index 0872186b500..2cc547ccc59 100644
--- a/src/rj_common/include/rj_common/ui_frame.hpp
+++ b/src/rj_common/include/rj_common/ui_frame.hpp
@@ -19,8 +19,7 @@ enum BallSenseStatus { kNoBall = 0, kHasBall, kDazzled, kFailed };
 enum MotorStatus { kGood = 0, kFault };
 
 struct UIRobot {
-    UIRobot(int shell_id, const RobotState& state,
-            const std::optional<RobotStatus>& status) {
+    UIRobot(int shell_id, const RobotState& state, const std::optional<RobotStatus>& status) {
         this->shell_id = shell_id;
 
         position = state.pose.position();
@@ -31,7 +30,7 @@ struct UIRobot {
             motors.resize(5);
             for (int i = 0; i < 5; i++) {
                 motors.at(i) = (status->motors_healthy[i] ? rj_common::MotorStatus::kGood
-                                                        : rj_common::MotorStatus::kFault);
+                                                          : rj_common::MotorStatus::kFault);
             }
             kicker_ok = status->kicker != RobotStatus::KickerState::kFailed;
             battery = static_cast<float>(status->battery_voltage);

From 0845e8ce54eab568720930bdeb694f08fdf8fcf1 Mon Sep 17 00:00:00 2001
From: rishiso <rishisoni.5678@gmail.com>
Date: Tue, 29 Sep 2026 19:11:38 -0400
Subject: [PATCH 11/21] address_comments

---
 src/rj_common/include/rj_common/context.hpp | 10 +++++++++-
 src/rj_ui/src/main_window.cpp               |  2 --
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index 9e2d0ed4eb0..8e9d9a1892b 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -15,9 +15,12 @@
 #include "rj_common/radio/robot_status.hpp"
 #include "rj_common/robot_intent.hpp"
 #include "rj_common/team_info.hpp"
+#include "rj_common/time.hpp"
 #include "rj_common/ui_frame.hpp"
 #include "rj_common/world_state.hpp"
 
+constexpr size_t kMaxLogFrames = 60 * 60 * 30;
+constexpr RJ::Seconds kDropRobotThreshold = RJ::Seconds(0.5);
 class Context {
 public:
     Context() {}
@@ -42,7 +45,8 @@ class Context {
             const auto& state = world_state.our_robots.at(shell);
             const auto& status = robot_status.at(shell);
 
-            if (RJ::now() - status.timestamp < RJ::Seconds(0.5)) {
+            // Only add the robot to the frame if it recently sent a radio packet
+            if (RJ::now() - status.timestamp < kDropRobotThreshold) {
                 frame->radio_rx.push_back(status);
             }
 
@@ -79,7 +83,11 @@ class Context {
             frame->blue_name = their_info.name;
         }
 
+        // Only store last 30 minutes of frames
         frames.push_back(frame);
+        if (frames.size() > kMaxLogFrames) {
+            frames.erase(frames.begin());
+        }
     }
 
     // Gameplay -> Planning, Radio
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index 28f3c18a536..aa9fd6b2663 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -316,8 +316,6 @@ void MainWindow::updateViews() {
         _procFPS->setText(QString("Proc: %1 fps").arg(_processor->framerate(), 0, 'f', 1));
     }
 
-    auto value = _ui.logHistoryLocation->value();
-
     std::shared_ptr<rj_common::UIFrame> ui_frame;
 
     // Grab frames

From a72ccacf80a0dfae1cba5d66175ee6ba25b236c1 Mon Sep 17 00:00:00 2001
From: rishiso <rishisoni.5678@gmail.com>
Date: Sun, 27 Sep 2026 21:55:13 -0400
Subject: [PATCH 12/21] .

---
 .gitmodules                                  |   6 +
 src/rj_protos/protos/RadioTx.proto.legacy    |  35 --
 src/rj_protos/protos/grSim_Commands.proto    |  22 -
 src/rj_protos/protos/grSim_Packet.proto      |   8 -
 src/rj_protos/protos/grSim_Replacement.proto |  22 -
 src/rj_protos/protos/referee.proto           | 243 --------
 src/rj_protos/protos/ssl-game-controller     |   1 +
 src/rj_protos/protos/ssl_gc_common.proto     |  28 -
 src/rj_protos/protos/ssl_gc_game_event.proto | 603 -------------------
 src/rj_protos/protos/ssl_gc_geometry.proto   |  16 -
 src/rj_protos/ssl-game-controller            |   1 +
 11 files changed, 8 insertions(+), 977 deletions(-)
 delete mode 100644 src/rj_protos/protos/RadioTx.proto.legacy
 delete mode 100644 src/rj_protos/protos/grSim_Commands.proto
 delete mode 100644 src/rj_protos/protos/grSim_Packet.proto
 delete mode 100644 src/rj_protos/protos/grSim_Replacement.proto
 delete mode 100644 src/rj_protos/protos/referee.proto
 create mode 160000 src/rj_protos/protos/ssl-game-controller
 delete mode 100644 src/rj_protos/protos/ssl_gc_common.proto
 delete mode 100644 src/rj_protos/protos/ssl_gc_game_event.proto
 delete mode 100644 src/rj_protos/protos/ssl_gc_geometry.proto
 create mode 160000 src/rj_protos/ssl-game-controller

diff --git a/.gitmodules b/.gitmodules
index 7d4501b829e..c6db78d1d61 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,9 @@
 [submodule "external/style-configs"]
 	path = external/style-configs
 	url = https://github.com/robojackets/style-configs
+[submodule "src/rj_protos/protos/ssl-game-controller"]
+	path = src/rj_protos/protos/ssl-game-controller
+	url = https://github.com/RoboCup-SSL/ssl-game-controller.git
+[submodule "src/rj_protos/ssl-game-controller"]
+	path = src/rj_protos/ssl-game-controller
+	url = https://github.com/RoboCup-SSL/ssl-game-controller.git
diff --git a/src/rj_protos/protos/RadioTx.proto.legacy b/src/rj_protos/protos/RadioTx.proto.legacy
deleted file mode 100644
index f2b94b73f78..00000000000
--- a/src/rj_protos/protos/RadioTx.proto.legacy
+++ /dev/null
@@ -1,35 +0,0 @@
-// Packet going out from control program to radio program
-syntax="proto2";
-
-message RadioTx
-{
-    message Robot
-    {
-        required uint32 robot_id = 1;
-        optional int32 dribbler = 2;
-        optional uint32 kick = 3;
-        optional bool use_chipper = 4;
-      
-        // Translational velocity in body coordinates, m/s
-        required float body_x = 6;
-        required float body_y = 7;
-      
-        // Angular velocity, rad/s
-        required float body_w = 8;
-      
-        optional float accel = 9;
-        optional float decel = 10;
-
-        // measurement from the camera
-        optional Point position = 14;
-        optional float latency = 15;
-      
-        optional bool kick_immediate = 11;
-      
-        optional bool sing = 12;
-        optional bool anthem = 13;
-    }
-  
-    repeated Robot robots = 2;
-    optional uint32 sequence = 3;
-}
diff --git a/src/rj_protos/protos/grSim_Commands.proto b/src/rj_protos/protos/grSim_Commands.proto
deleted file mode 100644
index a15b5f5b21f..00000000000
--- a/src/rj_protos/protos/grSim_Commands.proto
+++ /dev/null
@@ -1,22 +0,0 @@
-syntax = "proto2";
-
-message grSim_Robot_Command {
-    required uint32 id = 1;
-    required float kickspeedx = 2;
-    required float kickspeedz = 3;
-    required float veltangent = 4;
-    required float velnormal = 5;
-    required float velangular = 6;
-    required bool spinner = 7;
-    required bool wheelsspeed = 8;
-    optional float wheel1 = 9;
-    optional float wheel2 = 10;
-    optional float wheel3 = 11;
-    optional float wheel4 = 12;
-}
-
-message grSim_Commands {
-    required double timestamp = 1;
-    required bool isteamyellow = 2;
-    repeated grSim_Robot_Command robot_commands = 3;
-}
diff --git a/src/rj_protos/protos/grSim_Packet.proto b/src/rj_protos/protos/grSim_Packet.proto
deleted file mode 100644
index 2c4e7acd065..00000000000
--- a/src/rj_protos/protos/grSim_Packet.proto
+++ /dev/null
@@ -1,8 +0,0 @@
-syntax = "proto2";
-
-import "grSim_Commands.proto";
-import "grSim_Replacement.proto";
-message grSim_Packet {
-    optional grSim_Commands commands = 1;
-    optional grSim_Replacement replacement = 2;
-}
diff --git a/src/rj_protos/protos/grSim_Replacement.proto b/src/rj_protos/protos/grSim_Replacement.proto
deleted file mode 100644
index 08944ca36db..00000000000
--- a/src/rj_protos/protos/grSim_Replacement.proto
+++ /dev/null
@@ -1,22 +0,0 @@
-syntax = "proto2";
-
-message grSim_RobotReplacement {
-required double x=1;
-required double y=2;
-required double dir=3;
-required uint32 id=4;
-required bool yellowteam=5;
-optional bool turnon = 6;
-}
-
-message grSim_BallReplacement {
-    optional double x = 1;
-    optional double y = 2;
-    optional double vx = 3;
-    optional double vy = 4;
-}
-
-message grSim_Replacement {
-optional grSim_BallReplacement ball=1;
-repeated grSim_RobotReplacement robots=2;
-}
diff --git a/src/rj_protos/protos/referee.proto b/src/rj_protos/protos/referee.proto
deleted file mode 100644
index 34409661088..00000000000
--- a/src/rj_protos/protos/referee.proto
+++ /dev/null
@@ -1,243 +0,0 @@
-syntax = "proto2";
-
-option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
-
-import "ssl_gc_game_event.proto";
-
-// Each UDP packet contains one of these messages.
-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
-    optional string source_identifier = 18;
-
-    // The match type is a meta information about the current match that helps to process the logs
-    // after a competition
-    optional MatchType match_type = 19 [default = UNKNOWN_MATCH];
-
-    // The UNIX timestamp when the packet was sent, in microseconds.
-    // Divide by 1,000,000 to get a time_t.
-    required uint64 packet_timestamp = 1;
-
-    // These are the "coarse" stages of the game.
-    enum Stage {
-        // The first half is about to start.
-        // A kickoff is called within this stage.
-        // This stage ends with the NORMAL_START.
-        NORMAL_FIRST_HALF_PRE = 0;
-        // The first half of the normal game, before half time.
-        NORMAL_FIRST_HALF = 1;
-        // Half time between first and second halves.
-        NORMAL_HALF_TIME = 2;
-        // The second half is about to start.
-        // A kickoff is called within this stage.
-        // This stage ends with the NORMAL_START.
-        NORMAL_SECOND_HALF_PRE = 3;
-        // The second half of the normal game, after half time.
-        NORMAL_SECOND_HALF = 4;
-        // The break before extra time.
-        EXTRA_TIME_BREAK = 5;
-        // The first half of extra time is about to start.
-        // A kickoff is called within this stage.
-        // This stage ends with the NORMAL_START.
-        EXTRA_FIRST_HALF_PRE = 6;
-        // The first half of extra time.
-        EXTRA_FIRST_HALF = 7;
-        // Half time between first and second extra halves.
-        EXTRA_HALF_TIME = 8;
-        // The second half of extra time is about to start.
-        // A kickoff is called within this stage.
-        // This stage ends with the NORMAL_START.
-        EXTRA_SECOND_HALF_PRE = 9;
-        // The second half of extra time.
-        EXTRA_SECOND_HALF = 10;
-        // The break before penalty shootout.
-        PENALTY_SHOOTOUT_BREAK = 11;
-        // The penalty shootout.
-        PENALTY_SHOOTOUT = 12;
-        // The game is over.
-        POST_GAME = 13;
-    }
-    required Stage stage = 2;
-
-    // The number of 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.
-    optional sint64 stage_time_left = 3;
-
-    // These are the "fine" states of play on the field.
-    enum Command {
-        // All robots should completely stop moving.
-        HALT = 0;
-        // Robots must keep 50 cm from the ball.
-        STOP = 1;
-        // A prepared kickoff or penalty may now be taken.
-        NORMAL_START = 2;
-        // The ball is dropped and free for either team.
-        FORCE_START = 3;
-        // The yellow team may move into kickoff position.
-        PREPARE_KICKOFF_YELLOW = 4;
-        // The blue team may move into kickoff position.
-        PREPARE_KICKOFF_BLUE = 5;
-        // The yellow team may move into penalty position.
-        PREPARE_PENALTY_YELLOW = 6;
-        // The blue team may move into penalty position.
-        PREPARE_PENALTY_BLUE = 7;
-        // The yellow team may take a direct free kick.
-        DIRECT_FREE_YELLOW = 8;
-        // The blue team may take a direct free kick.
-        DIRECT_FREE_BLUE = 9;
-        // The yellow team may take an indirect free kick.
-        INDIRECT_FREE_YELLOW = 10 [deprecated = true];
-        // The blue team may take an indirect free kick.
-        INDIRECT_FREE_BLUE = 11 [deprecated = true];
-        // The yellow team is currently in a timeout.
-        TIMEOUT_YELLOW = 12;
-        // The blue team is currently in a timeout.
-        TIMEOUT_BLUE = 13;
-        // The yellow team just scored a goal.
-        // For information only.
-        // Deprecated: Use the score field from the team infos instead. That way, you can also
-        // detect revoked goals.
-        GOAL_YELLOW = 14 [deprecated = true];
-        // The blue team just scored a goal. See also GOAL_YELLOW.
-        GOAL_BLUE = 15 [deprecated = true];
-        // Equivalent to STOP, but the yellow team must pick up the ball and
-        // drop it in the Designated Position.
-        BALL_PLACEMENT_YELLOW = 16;
-        // Equivalent to STOP, but the blue team must pick up the ball and drop
-        // it in the Designated Position.
-        BALL_PLACEMENT_BLUE = 17;
-    }
-    required Command command = 4;
-
-    // The number of commands issued since startup (mod 2^32).
-    required uint32 command_counter = 5;
-
-    // The UNIX timestamp when the command was issued, in microseconds.
-    // This value changes only when a new command is issued, not on each packet.
-    required uint64 command_timestamp = 6;
-
-    // Information about a single team.
-    message TeamInfo {
-        // The team's name (empty string if operator has not typed anything).
-        required string name = 1;
-        // The number of goals scored by the team during normal play and overtime.
-        required uint32 score = 2;
-        // The number of red cards issued to the team since the beginning of the game.
-        required uint32 red_cards = 3;
-        // The amount of time (in 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.
-        repeated uint32 yellow_card_times = 4 [packed = true];
-        // The total number of yellow cards ever issued to the team.
-        required uint32 yellow_cards = 5;
-        // The number of timeouts this team can still call.
-        // If in a timeout right now, that timeout is excluded.
-        required uint32 timeouts = 6;
-        // The number of microseconds of timeout this team can use.
-        required uint32 timeout_time = 7;
-        // The pattern number of this team's goalkeeper.
-        required uint32 goalkeeper = 8;
-        // The total number of countable fouls that act towards yellow cards
-        optional uint32 foul_counter = 9;
-        // The number of consecutive ball placement failures of this team
-        optional uint32 ball_placement_failures = 10;
-        // Indicate if the team is able and allowed to place the ball
-        optional bool can_place_ball = 12;
-        // The maximum number of bots allowed on the field based on division and cards
-        optional uint32 max_allowed_bots = 13;
-        // The team has submitted an intent to substitute one or more robots at the next chance
-        optional bool bot_substitution_intent = 14;
-        // Indicate if the team reached the maximum allowed ball placement failures and is thus not
-        // allowed to place the ball anymore
-        optional bool ball_placement_failures_reached = 15;
-        // The team is allowed to substitute one or more robots currently
-        optional bool bot_substitution_allowed = 16;
-        // The number of bot substitutions left by the team in this halftime
-        optional uint32 bot_substitutions_left = 17;
-        // The number of microseconds left for current bot substitution
-        optional uint32 bot_substitution_time_left = 18;
-    }
-
-    // Information about the two teams.
-    required TeamInfo yellow = 7;
-    required TeamInfo blue = 8;
-
-    // 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).
-    message Point {
-        required float x = 1;
-        required float y = 2;
-    }
-    optional Point designated_position = 9;
-
-    // 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.
-    optional bool blue_team_on_positive_half = 10;
-
-    // The game event that caused the referee command.
-    // deprecated in favor of game_events.
-    //    optional Game_Event game_event = 11 [deprecated = true];
-    reserved 11;
-
-    // The command that will be issued after the current stoppage and ball placement to continue the
-    // game.
-    optional Command next_command = 12;
-
-    // All game events that were detected since the last RUNNING state.
-    // Will be cleared as soon as the game is continued.
-    reserved 13;
-    repeated GameEvent game_events = 16;
-
-    // All proposed game events that were detected since the last RUNNING state.
-    reserved 14;
-    repeated GameEventProposalGroup game_event_proposals = 17;
-
-    // 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
-    optional int64 current_action_time_remaining = 15;
-
-    // A message that can be displayed to the spectators, like a reason for a stoppage.
-    optional string status_message = 20;
-}
-
-// List of matching proposals
-message GameEventProposalGroup {
-    // Unique ID of this group
-    optional string id = 3;
-    // The proposed game events
-    repeated GameEvent game_events = 1;
-    // Whether the proposal group was accepted
-    optional bool accepted = 2;
-}
-
-// MatchType is a meta information about the current match for easier log processing
-enum MatchType {
-    // not set
-    UNKNOWN_MATCH = 0;
-    // match is part of the group phase
-    GROUP_PHASE = 1;
-    // match is part of the elimination phase
-    ELIMINATION_PHASE = 2;
-    // a friendly match, not part of a tournament
-    FRIENDLY = 3;
-}
\ No newline at end of file
diff --git a/src/rj_protos/protos/ssl-game-controller b/src/rj_protos/protos/ssl-game-controller
new file mode 160000
index 00000000000..b176f48c9aa
--- /dev/null
+++ b/src/rj_protos/protos/ssl-game-controller
@@ -0,0 +1 @@
+Subproject commit b176f48c9aa2c1dbfdf4ee7bb39548630a734b91
diff --git a/src/rj_protos/protos/ssl_gc_common.proto b/src/rj_protos/protos/ssl_gc_common.proto
deleted file mode 100644
index d117bc11281..00000000000
--- a/src/rj_protos/protos/ssl_gc_common.proto
+++ /dev/null
@@ -1,28 +0,0 @@
-syntax = "proto2";
-
-option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
-
-// Team is either blue or yellow
-enum Team {
-    // team not set
-    UNKNOWN = 0;
-    // yellow team
-    YELLOW = 1;
-    // blue team
-    BLUE = 2;
-}
-
-// RobotId is the combination of a team and a robot id
-message RobotId {
-    // the robot number
-    optional uint32 id = 1;
-    // the team that the robot belongs to
-    optional Team team = 2;
-}
-
-// Division denotes the current division, which influences some rules
-enum Division {
-    DIV_UNKNOWN = 0;
-    DIV_A = 1;
-    DIV_B = 2;
-}
\ No newline at end of file
diff --git a/src/rj_protos/protos/ssl_gc_game_event.proto b/src/rj_protos/protos/ssl_gc_game_event.proto
deleted file mode 100644
index 64200bda20e..00000000000
--- a/src/rj_protos/protos/ssl_gc_game_event.proto
+++ /dev/null
@@ -1,603 +0,0 @@
-syntax = "proto2";
-
-option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
-
-import "ssl_gc_common.proto";
-import "ssl_gc_geometry.proto";
-
-// 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.
-message GameEvent {
-    // A globally unique id of the game event.
-    optional string id = 50;
-
-    // The type of the game event.
-    optional Type type = 40;
-
-    // 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.
-    repeated string origin = 41;
-
-    // Unix timestamp in microseconds when the event was created.
-    optional uint64 created_timestamp = 49;
-
-    // the event that occurred
-    oneof event {
-        // Ball out of field events (stopping)
-
-        BallLeftField ball_left_field_touch_line = 6;
-        BallLeftField ball_left_field_goal_line = 7;
-        AimlessKick aimless_kick = 11;
-
-        // Stopping Fouls
-
-        AttackerTooCloseToDefenseArea attacker_too_close_to_defense_area = 19;
-        DefenderInDefenseArea defender_in_defense_area = 31;
-        BoundaryCrossing boundary_crossing = 43;
-        KeeperHeldBall keeper_held_ball = 13;
-        BotDribbledBallTooFar bot_dribbled_ball_too_far = 17;
-
-        BotPushedBot bot_pushed_bot = 24;
-        BotHeldBallDeliberately bot_held_ball_deliberately = 26;
-        BotTippedOver bot_tipped_over = 27;
-        BotDroppedParts bot_dropped_parts = 51;
-
-        // Non-Stopping Fouls
-
-        AttackerTouchedBallInDefenseArea attacker_touched_ball_in_defense_area = 15;
-        BotKickedBallTooFast bot_kicked_ball_too_fast = 18;
-        BotCrashUnique bot_crash_unique = 22;
-        BotCrashDrawn bot_crash_drawn = 21;
-
-        // Fouls while ball out of play
-
-        DefenderTooCloseToKickPoint defender_too_close_to_kick_point = 29;
-        BotTooFastInStop bot_too_fast_in_stop = 28;
-        BotInterferedPlacement bot_interfered_placement = 20;
-
-        // Scoring goals
-
-        Goal possible_goal = 39;
-        Goal goal = 8;
-        Goal invalid_goal = 44;
-
-        // Other events
-
-        AttackerDoubleTouchedBall attacker_double_touched_ball = 14;
-        PlacementSucceeded placement_succeeded = 5;
-        PenaltyKickFailed penalty_kick_failed = 45;
-
-        NoProgressInGame no_progress_in_game = 2;
-        PlacementFailed placement_failed = 3;
-        MultipleCards multiple_cards = 32;
-        MultipleFouls multiple_fouls = 34;
-        BotSubstitution bot_substitution = 37;
-        ExcessiveBotSubstitution excessive_bot_substitution = 52;
-        TooManyRobots too_many_robots = 38;
-        ChallengeFlag challenge_flag = 46;
-        ChallengeFlagHandled challenge_flag_handled = 48;
-        EmergencyStop emergency_stop = 47;
-
-        UnsportingBehaviorMinor unsporting_behavior_minor = 35;
-        UnsportingBehaviorMajor unsporting_behavior_major = 36;
-
-        // Deprecated events
-
-        // replaced by ready_to_continue flag
-        Prepared prepared = 1 [deprecated = true];
-        // obsolete
-        IndirectGoal indirect_goal = 9 [deprecated = true];
-        // replaced by the meta-information in the possible_goal event
-        ChippedGoal chipped_goal = 10 [deprecated = true];
-        // obsolete
-        KickTimeout kick_timeout = 12 [deprecated = true];
-        // rule removed
-        AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area = 16
-            [deprecated = true];
-        // obsolete
-        AttackerTouchedOpponentInDefenseArea attacker_touched_opponent_in_defense_area_skipped = 42
-            [deprecated = true];
-        // obsolete
-        BotCrashUnique bot_crash_unique_skipped = 23 [deprecated = true];
-        // can not be used as long as autoRefs do not judge pushing
-        BotPushedBot bot_pushed_bot_skipped = 25 [deprecated = true];
-        // rule removed
-        DefenderInDefenseAreaPartially defender_in_defense_area_partially = 30 [deprecated = true];
-        // the referee msg already indicates this
-        MultiplePlacementFailures multiple_placement_failures = 33 [deprecated = true];
-    }
-
-    // the ball left the field normally
-    message BallLeftField {
-        // the team that last touched the ball
-        required Team by_team = 1;
-        // the bot that last touched the ball
-        optional uint32 by_bot = 2;
-        // the location where the ball left the field [m]
-        optional Vector2 location = 3;
-    }
-    // the ball left the field via goal line and a team committed an aimless kick
-    message AimlessKick {
-        // the team that last touched the ball
-        required Team by_team = 1;
-        // the bot that last touched the ball
-        optional uint32 by_bot = 2;
-        // the location where the ball left the field [m]
-        optional Vector2 location = 3;
-        // the location where the ball was last touched [m]
-        optional Vector2 kick_location = 4;
-    }
-    // a team shot a goal
-    message Goal {
-        // the team that scored the goal
-        required Team by_team = 1;
-        // the team that shot the goal (different from by_team for own goals)
-        optional Team kicking_team = 6;
-        // the bot that shot the goal
-        optional uint32 kicking_bot = 2;
-        // the location where the ball entered the goal [m]
-        optional Vector2 location = 3;
-        // the location where the ball was kicked (for deciding if this was a valid goal) [m]
-        optional Vector2 kick_location = 4;
-        // the maximum height the ball reached during the goal kick (for deciding if this was a
-        // valid goal) [m]
-        optional float max_ball_height = 5;
-        // number of robots of scoring team when the ball entered the goal (for deciding if this was
-        // a valid goal)
-        optional uint32 num_robots_by_team = 7;
-        // The UNIX timestamp [μs] when the scoring team last touched the ball
-        optional uint64 last_touch_by_team = 8;
-        // An additional message with e.g. a reason for invalid goals
-        optional string message = 9;
-    }
-    // the ball entered the goal directly during an indirect free kick
-    message IndirectGoal {
-        // the team that tried to shoot the goal
-        required Team by_team = 1;
-        // the bot that kicked the ball - at least the team must be set
-        optional uint32 by_bot = 2;
-        // the location where the ball entered the goal [m]
-        optional Vector2 location = 3;
-        // the location where the ball was kicked [m]
-        optional Vector2 kick_location = 4;
-    }
-    // the ball entered the goal, but was initially chipped
-    message ChippedGoal {
-        // the team that tried to shoot the goal
-        required Team by_team = 1;
-        // the bot that kicked the ball
-        optional uint32 by_bot = 2;
-        // the location where the ball entered the goal [m]
-        optional Vector2 location = 3;
-        // the location where the ball was kicked [m]
-        optional Vector2 kick_location = 4;
-        // the maximum height [m] of the ball, before it entered the goal and since the last kick
-        // [m]
-        optional float max_ball_height = 5;
-    }
-    // a bot moved too fast while the game was stopped
-    message BotTooFastInStop {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that was too fast
-        optional uint32 by_bot = 2;
-        // the location of the bot [m]
-        optional Vector2 location = 3;
-        // the bot speed [m/s]
-        optional float speed = 4;
-    }
-    // a bot of the defending team got too close to the kick point during a free kick
-    message DefenderTooCloseToKickPoint {
-        // the team that was found guilty
-        required Team by_team = 1;
-        // the bot that violates the distance to the kick point
-        optional uint32 by_bot = 2;
-        // the location of the bot [m]
-        optional Vector2 location = 3;
-        // the distance [m] from bot to the kick point (including the minimum radius)
-        optional float distance = 4;
-    }
-    // two robots crashed into each other with similar speeds
-    message BotCrashDrawn {
-        // the bot of the yellow team
-        optional uint32 bot_yellow = 1;
-        // the bot of the blue team
-        optional uint32 bot_blue = 2;
-        // the location of the crash (center between both bots) [m]
-        optional Vector2 location = 3;
-        // the calculated crash speed [m/s] of the two bots
-        optional float crash_speed = 4;
-        // the difference [m/s] of the velocity of the two bots
-        optional float speed_diff = 5;
-        // 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
-        optional float crash_angle = 6;
-    }
-    // two robots crashed into each other and one team was found guilty to due significant speed
-    // difference
-    message BotCrashUnique {
-        // the team that caused the crash
-        required Team by_team = 1;
-        // the bot that caused the crash
-        optional uint32 violator = 2;
-        // the bot of the opposite team that was involved in the crash
-        optional uint32 victim = 3;
-        // the location of the crash (center between both bots) [m]
-        optional Vector2 location = 4;
-        // the calculated crash speed vector [m/s] of the two bots
-        optional float crash_speed = 5;
-        // the difference [m/s] of the velocity of the two bots
-        optional float speed_diff = 6;
-        // 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
-        optional float crash_angle = 7;
-    }
-    // a bot pushed another bot over a significant distance
-    message BotPushedBot {
-        // the team that pushed the other team
-        required Team by_team = 1;
-        // the bot that pushed the other bot
-        optional uint32 violator = 2;
-        // the bot of the opposite team that was pushed
-        optional uint32 victim = 3;
-        // the location of the push (center between both bots) [m]
-        optional Vector2 location = 4;
-        // the pushed distance [m]
-        optional float pushed_distance = 5;
-    }
-    // a bot tipped over
-    message BotTippedOver {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that tipped over
-        optional uint32 by_bot = 2;
-        // the location of the bot [m]
-        optional Vector2 location = 3;
-        // the location of the ball at the moment when this foul occurred [m]
-        optional Vector2 ball_location = 4;
-    }
-    // a bot dropped parts
-    message BotDroppedParts {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that dropped the parts
-        optional uint32 by_bot = 2;
-        // the location where the parts were dropped [m]
-        optional Vector2 location = 3;
-        // the location of the ball at the moment when this foul occurred [m]
-        optional Vector2 ball_location = 4;
-    }
-    // a defender other than the keeper was fully located inside its own defense and touched the
-    // ball
-    message DefenderInDefenseArea {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that is inside the penalty area
-        optional uint32 by_bot = 2;
-        // the location of the bot [m]
-        optional Vector2 location = 3;
-        // the distance [m] from bot case to the nearest point outside the defense area
-        optional float distance = 4;
-    }
-    // a defender other than the keeper was partially located inside its own defense area and
-    // touched the ball
-    message DefenderInDefenseAreaPartially {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that is partially inside the penalty area
-        optional uint32 by_bot = 2;
-        // the location of the bot
-        optional Vector2 location = 3;
-        // the distance [m] that the bot is inside the penalty area
-        optional float distance = 4;
-        // the location of the ball at the moment when this foul occurred [m]
-        optional Vector2 ball_location = 5;
-    }
-    // an attacker touched the ball inside the opponent defense area
-    message AttackerTouchedBallInDefenseArea {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that is inside the penalty area
-        optional uint32 by_bot = 2;
-        // the location of the bot [m]
-        optional Vector2 location = 3;
-        // the distance [m] that the bot is inside the penalty area
-        optional float distance = 4;
-    }
-    // a bot kicked the ball too fast
-    message BotKickedBallTooFast {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that kicked too fast
-        optional uint32 by_bot = 2;
-        // the location of the ball at the time of the highest speed [m]
-        optional Vector2 location = 3;
-        // the absolute initial ball speed (kick speed) [m/s]
-        optional float initial_ball_speed = 4;
-        // was the ball chipped?
-        optional bool chipped = 5;
-    }
-    // a bot dribbled to ball too far
-    message BotDribbledBallTooFar {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that dribbled too far
-        optional uint32 by_bot = 2;
-        // the location where the dribbling started [m]
-        optional Vector2 start = 3;
-        // the location where the maximum dribbling distance was reached [m]
-        optional Vector2 end = 4;
-    }
-    // an attacker touched the opponent robot inside defense area
-    message AttackerTouchedOpponentInDefenseArea {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that touched the opponent robot
-        optional uint32 by_bot = 2;
-        // the bot of the opposite team that was touched
-        optional uint32 victim = 4;
-        // the location of the contact point between both bots [m]
-        optional Vector2 location = 3;
-    }
-    // an attacker touched the ball multiple times when it was not allowed to
-    message AttackerDoubleTouchedBall {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that touched the ball twice
-        optional uint32 by_bot = 2;
-        // the location of the ball when it was first touched [m]
-        optional Vector2 location = 3;
-    }
-    // an attacker was located too near to the opponent defense area during stop or free kick
-    message AttackerTooCloseToDefenseArea {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that is too close to the defense area
-        optional uint32 by_bot = 2;
-        // the location of the bot [m]
-        optional Vector2 location = 3;
-        // the distance [m] of the bot to the penalty area
-        optional float distance = 4;
-        // the location of the ball at the moment when this foul occurred [m]
-        optional Vector2 ball_location = 5;
-    }
-    // a bot held the ball for too long
-    message BotHeldBallDeliberately {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that holds the ball
-        optional uint32 by_bot = 2;
-        // the location of the ball [m]
-        optional Vector2 location = 3;
-        // the duration [s] that the bot hold the ball
-        optional float duration = 4;
-    }
-    // a bot interfered the ball placement of the other team
-    message BotInterferedPlacement {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the bot that interfered the placement
-        optional uint32 by_bot = 2;
-        // the location of the bot [m]
-        optional Vector2 location = 3;
-    }
-    // a team collected multiple yellow cards
-    message MultipleCards {
-        // the team that received multiple yellow cards
-        required Team by_team = 1;
-    }
-    // a team collected multiple fouls, which results in a yellow card
-    message MultipleFouls {
-        // the team that collected multiple fouls
-        required Team by_team = 1;
-        // the list of game events that caused the multiple fouls
-        repeated GameEvent caused_game_events = 2;
-    }
-    // a team failed to place the ball multiple times in a row
-    message MultiplePlacementFailures {
-        // the team that failed multiple times
-        required Team by_team = 1;
-    }
-    // timeout waiting for the attacking team to perform the free kick
-    message KickTimeout {
-        // the team that that should have kicked
-        required Team by_team = 1;
-        // the location of the ball [m]
-        optional Vector2 location = 2;
-        // the time [s] that was waited
-        optional float time = 3;
-    }
-    // game was stuck
-    message NoProgressInGame {
-        // the location of the ball
-        optional Vector2 location = 1;
-        // the time [s] that was waited
-        optional float time = 2;
-    }
-    // ball placement failed
-    message PlacementFailed {
-        // the team that failed
-        required Team by_team = 1;
-        // the remaining distance [m] from ball to placement position
-        optional float remaining_distance = 2;
-        // the distance [m] of the nearest own robot to the ball
-        optional float nearest_own_bot_distance = 3;
-    }
-    // a team was found guilty for minor unsporting behavior
-    message UnsportingBehaviorMinor {
-        // the team that found guilty
-        required Team by_team = 1;
-        // an explanation of the situation and decision
-        required string reason = 2;
-    }
-    // a team was found guilty for major unsporting behavior
-    message UnsportingBehaviorMajor {
-        // the team that found guilty
-        required Team by_team = 1;
-        // an explanation of the situation and decision
-        required string reason = 2;
-    }
-    // a keeper held the ball in its defense area for too long
-    message KeeperHeldBall {
-        // the team that found guilty
-        required Team by_team = 1;
-        // the location of the ball [m]
-        optional Vector2 location = 2;
-        // the duration [s] that the keeper hold the ball
-        optional float duration = 3;
-    }
-    // a team successfully placed the ball
-    message PlacementSucceeded {
-        // the team that did the placement
-        required Team by_team = 1;
-        // the time [s] taken for placing the ball
-        optional float time_taken = 2;
-        // the distance [m] between placement location and actual ball position
-        optional float precision = 3;
-        // the distance [m] between the initial ball location and the placement position
-        optional float distance = 4;
-    }
-    // both teams are prepared - all conditions are met to continue (with kickoff or penalty kick)
-    message Prepared {
-        // the time [s] taken for preparing
-        optional float time_taken = 1;
-    }
-    // bots are being substituted by a team
-    message BotSubstitution {
-        // the team that substitutes robots
-        required Team by_team = 1;
-    }
-    // A foul for excessive bot substitutions
-    message ExcessiveBotSubstitution {
-        // the team that substitutes robots
-        required Team by_team = 1;
-    }
-    // A challenge flag, requested by a team previously, is flagged
-    message ChallengeFlag {
-        // the team that requested the challenge flag
-        required Team by_team = 1;
-    }
-    // A challenge, flagged recently, has been handled by the referee
-    message ChallengeFlagHandled {
-        // the team that requested the challenge flag
-        required Team by_team = 1;
-        // the challenge was accepted by the referee
-        required bool accepted = 2;
-    }
-    // An emergency stop, requested by team previously, occurred
-    message EmergencyStop {
-        // the team that substitutes robots
-        required Team by_team = 1;
-    }
-    // a team has too many robots on the field
-    message TooManyRobots {
-        // the team that has too many robots
-        required Team by_team = 1;
-        // number of robots allowed at the moment
-        optional int32 num_robots_allowed = 2;
-        // number of robots currently on the field
-        optional int32 num_robots_on_field = 3;
-        // the location of the ball at the moment when this foul occurred [m]
-        optional Vector2 ball_location = 4;
-    }
-    // a robot chipped the ball over the field boundary out of the playing surface
-    message BoundaryCrossing {
-        // the team that has too many robots
-        required Team by_team = 1;
-        // the location of the ball [m]
-        optional Vector2 location = 2;
-    }
-    // the penalty kick failed (by time or by keeper)
-    message PenaltyKickFailed {
-        // the team that last touched the ball
-        required Team by_team = 1;
-        // the location of the ball at the moment of this event [m]
-        optional Vector2 location = 2;
-        // an explanation of the failure
-        optional string reason = 3;
-    }
-
-    enum Type {
-        UNKNOWN_GAME_EVENT_TYPE = 0;
-
-        // Ball out of field events (stopping)
-
-        BALL_LEFT_FIELD_TOUCH_LINE = 6;  // triggered by autoRef
-        BALL_LEFT_FIELD_GOAL_LINE = 7;   // triggered by autoRef
-        AIMLESS_KICK = 11;               // triggered by autoRef
-
-        // Stopping Fouls
-
-        ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA = 19;  // triggered by autoRef
-        DEFENDER_IN_DEFENSE_AREA = 31;            // triggered by autoRef
-        BOUNDARY_CROSSING = 41;                   // triggered by autoRef
-        KEEPER_HELD_BALL = 13;                    // triggered by GC
-        BOT_DRIBBLED_BALL_TOO_FAR = 17;           // triggered by autoRef
-
-        BOT_PUSHED_BOT = 24;              // triggered by human ref
-        BOT_HELD_BALL_DELIBERATELY = 26;  // triggered by human ref
-        BOT_TIPPED_OVER = 27;             // triggered by human ref
-        BOT_DROPPED_PARTS = 47;           // triggered by human ref
-
-        // Non-Stopping Fouls
-
-        ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA = 15;  // triggered by autoRef
-        BOT_KICKED_BALL_TOO_FAST = 18;               // triggered by autoRef
-        BOT_CRASH_UNIQUE = 22;                       // triggered by autoRef
-        BOT_CRASH_DRAWN = 21;                        // triggered by autoRef
-
-        // Fouls while ball out of play
-
-        DEFENDER_TOO_CLOSE_TO_KICK_POINT = 29;  // triggered by autoRef
-        BOT_TOO_FAST_IN_STOP = 28;              // triggered by autoRef
-        BOT_INTERFERED_PLACEMENT = 20;          // triggered by autoRef
-        EXCESSIVE_BOT_SUBSTITUTION = 48;        // triggered by GC
-
-        // Scoring goals
-
-        POSSIBLE_GOAL = 39;  // triggered by autoRef
-        GOAL = 8;            // triggered by GC
-        INVALID_GOAL = 42;   // triggered by GC
-
-        // Other events
-
-        ATTACKER_DOUBLE_TOUCHED_BALL = 14;  // triggered by autoRef
-        PLACEMENT_SUCCEEDED = 5;            // triggered by autoRef
-        PENALTY_KICK_FAILED = 43;           // triggered by GC and autoRef
-
-        NO_PROGRESS_IN_GAME = 2;      // triggered by GC
-        PLACEMENT_FAILED = 3;         // triggered by GC
-        MULTIPLE_CARDS = 32;          // triggered by GC
-        MULTIPLE_FOULS = 34;          // triggered by GC
-        BOT_SUBSTITUTION = 37;        // triggered by GC
-        TOO_MANY_ROBOTS = 38;         // triggered by GC
-        CHALLENGE_FLAG = 44;          // triggered by GC
-        CHALLENGE_FLAG_HANDLED = 46;  // triggered by GC
-        EMERGENCY_STOP = 45;          // triggered by GC
-
-        UNSPORTING_BEHAVIOR_MINOR = 35;  // triggered by human ref
-        UNSPORTING_BEHAVIOR_MAJOR = 36;  // triggered by human ref
-
-        // Deprecated events
-
-        PREPARED = 1 [deprecated = true];
-        INDIRECT_GOAL = 9 [deprecated = true];
-        CHIPPED_GOAL = 10 [deprecated = true];
-        KICK_TIMEOUT = 12 [deprecated = true];
-        ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA = 16 [deprecated = true];
-        ATTACKER_TOUCHED_OPPONENT_IN_DEFENSE_AREA_SKIPPED = 40 [deprecated = true];
-        BOT_CRASH_UNIQUE_SKIPPED = 23 [deprecated = true];
-        BOT_PUSHED_BOT_SKIPPED = 25 [deprecated = true];
-        DEFENDER_IN_DEFENSE_AREA_PARTIALLY = 30 [deprecated = true];
-        MULTIPLE_PLACEMENT_FAILURES = 33 [deprecated = true];
-    }
-}
\ No newline at end of file
diff --git a/src/rj_protos/protos/ssl_gc_geometry.proto b/src/rj_protos/protos/ssl_gc_geometry.proto
deleted file mode 100644
index 61c65771ae2..00000000000
--- a/src/rj_protos/protos/ssl_gc_geometry.proto
+++ /dev/null
@@ -1,16 +0,0 @@
-syntax = "proto2";
-
-option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom";
-
-// A vector with two dimensions
-message Vector2 {
-    required float x = 1;
-    required float y = 2;
-}
-
-// A vector with three dimensions
-message Vector3 {
-    required float x = 1;
-    required float y = 2;
-    required float z = 3;
-}
\ No newline at end of file
diff --git a/src/rj_protos/ssl-game-controller b/src/rj_protos/ssl-game-controller
new file mode 160000
index 00000000000..b176f48c9aa
--- /dev/null
+++ b/src/rj_protos/ssl-game-controller
@@ -0,0 +1 @@
+Subproject commit b176f48c9aa2c1dbfdf4ee7bb39548630a734b91

From 432916d40e399ff9187c64fe60ebf6c3d43b53d0 Mon Sep 17 00:00:00 2001
From: Sanat Dhanyamraju <saisanat@gmail.com>
Date: Mon, 28 Sep 2026 13:32:19 -0400
Subject: [PATCH 13/21] /

---
 .gitmodules                                   |   6 +-
 src/rj_common/include/rj_common/context.hpp   |   2 +-
 .../include/rj_common/referee_enums.hpp       |   2 +-
 src/rj_common/include/rj_common/team_info.hpp |   2 +-
 src/rj_protos/CMakeLists.txt                  | 122 ++++++++++++----
 src/rj_protos/protos/ssl-game-controller      |   1 -
 .../protos/ssl_simulation_config.proto        |  77 -----------
 .../protos/ssl_simulation_control.proto       |  73 ----------
 .../protos/ssl_simulation_error.proto         |  10 --
 .../protos/ssl_simulation_robot_control.proto |  66 ---------
 .../ssl_simulation_robot_feedback.proto       |  23 ----
 .../protos/ssl_simulation_synchronous.proto   |  25 ----
 .../protos/ssl_vision_detection.proto         |  33 -----
 .../protos/ssl_vision_geometry.proto          | 130 ------------------
 src/rj_protos/protos/ssl_vision_wrapper.proto |   9 --
 src/rj_protos/ssl-simulation-protocol         |   1 +
 src/rj_radio/src/sim_radio.cpp                |   2 +-
 .../include/rj_referee/external_referee.hpp   |   2 +-
 src/rj_ui/include/rj_ui/main_window.hpp       |   2 -
 src/rj_ui/include/rj_ui/sim_field_view.hpp    |   3 -
 src/rj_ui/src/main_window.cpp                 |   2 -
 src/rj_ui/src/sim_field_view.cpp              |   3 -
 src/rj_utils/include/rj_utils/conversions.hpp |   3 +-
 .../stamped_wrapper_packet.hpp                |   2 +-
 .../rj_vision_receiver/vision_receiver.hpp    |   2 +-
 25 files changed, 105 insertions(+), 498 deletions(-)
 delete mode 160000 src/rj_protos/protos/ssl-game-controller
 delete mode 100644 src/rj_protos/protos/ssl_simulation_config.proto
 delete mode 100644 src/rj_protos/protos/ssl_simulation_control.proto
 delete mode 100644 src/rj_protos/protos/ssl_simulation_error.proto
 delete mode 100644 src/rj_protos/protos/ssl_simulation_robot_control.proto
 delete mode 100644 src/rj_protos/protos/ssl_simulation_robot_feedback.proto
 delete mode 100644 src/rj_protos/protos/ssl_simulation_synchronous.proto
 delete mode 100644 src/rj_protos/protos/ssl_vision_detection.proto
 delete mode 100644 src/rj_protos/protos/ssl_vision_geometry.proto
 delete mode 100644 src/rj_protos/protos/ssl_vision_wrapper.proto
 create mode 160000 src/rj_protos/ssl-simulation-protocol

diff --git a/.gitmodules b/.gitmodules
index c6db78d1d61..7506af86ac4 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,9 @@
 [submodule "external/style-configs"]
 	path = external/style-configs
 	url = https://github.com/robojackets/style-configs
-[submodule "src/rj_protos/protos/ssl-game-controller"]
-	path = src/rj_protos/protos/ssl-game-controller
-	url = https://github.com/RoboCup-SSL/ssl-game-controller.git
 [submodule "src/rj_protos/ssl-game-controller"]
 	path = src/rj_protos/ssl-game-controller
 	url = https://github.com/RoboCup-SSL/ssl-game-controller.git
+[submodule "src/rj_protos/ssl-simulation-protocol"]
+	path = src/rj_protos/ssl-simulation-protocol
+	url = https://github.com/RoboCup-SSL/ssl-simulation-protocol.git
diff --git a/src/rj_common/include/rj_common/context.hpp b/src/rj_common/include/rj_common/context.hpp
index 8e9d9a1892b..74d0c2f57b7 100644
--- a/src/rj_common/include/rj_common/context.hpp
+++ b/src/rj_common/include/rj_common/context.hpp
@@ -3,7 +3,7 @@
 #include <memory>
 #include <set>
 
-#include <rj_protos/referee.pb.h>
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
 
 #include "rj_common/control/motion_setpoint.hpp"
 #include "rj_common/debug_drawer.hpp"
diff --git a/src/rj_common/include/rj_common/referee_enums.hpp b/src/rj_common/include/rj_common/referee_enums.hpp
index 57e1cf67490..08682c8d78d 100644
--- a/src/rj_common/include/rj_common/referee_enums.hpp
+++ b/src/rj_common/include/rj_common/referee_enums.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <rj_protos/referee.pb.h>
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
 
 #include <string>
 
diff --git a/src/rj_common/include/rj_common/team_info.hpp b/src/rj_common/include/rj_common/team_info.hpp
index d95df344c80..542d087413c 100644
--- a/src/rj_common/include/rj_common/team_info.hpp
+++ b/src/rj_common/include/rj_common/team_info.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <rj_protos/referee.pb.h>
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
 
 #include <rj_common/time.hpp>
 #include <rj_msgs/msg/team_info.hpp>
diff --git a/src/rj_protos/CMakeLists.txt b/src/rj_protos/CMakeLists.txt
index 452cd778ceb..094a75a9ef4 100644
--- a/src/rj_protos/CMakeLists.txt
+++ b/src/rj_protos/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(rj_protos LANGUAGES CXX)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -8,50 +8,113 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(Protobuf REQUIRED)
 
-protobuf_generate_cpp(
-  PROTOBUF_SRCS
-  PROTOBUF_HDRS
-  protos/grSim_Commands.proto
-  protos/grSim_Packet.proto
-  protos/grSim_Replacement.proto
-  protos/referee.proto
-  protos/ssl_gc_common.proto
-  protos/ssl_gc_geometry.proto
-  protos/ssl_gc_game_event.proto
-  protos/ssl_simulation_config.proto
-  protos/ssl_simulation_control.proto
-  protos/ssl_simulation_error.proto
-  protos/ssl_simulation_robot_control.proto
-  protos/ssl_simulation_robot_feedback.proto
-  protos/ssl_simulation_synchronous.proto
-  protos/ssl_vision_detection.proto
-  protos/ssl_vision_geometry.proto
-  protos/ssl_vision_wrapper.proto
+set(GC_PROTO_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/ssl-game-controller/proto)
+set(SIM_PROTO_SRC ${CMAKE_CURRENT_SOURCE_DIR}/ssl-simulation-protocol/proto)
+set(SIM_PROTO_ROOT ${CMAKE_CURRENT_BINARY_DIR}/sim_proto)
+set(GEN_ROOT ${CMAKE_CURRENT_BINARY_DIR}/gen)
+set(GEN_DIR ${GEN_ROOT}/rj_protos)
+
+set(GC_PROTOS
+  state/ssl_gc_common.proto
+  state/ssl_gc_game_event.proto
+  state/ssl_gc_referee_message.proto
+  geom/ssl_gc_geometry.proto
+  vision/ssl_vision_detection.proto
+  vision/ssl_vision_geometry.proto
+  vision/ssl_vision_wrapper.proto
+)
+
+set(SIM_PROTOS
+  ssl_simulation_config.proto
+  ssl_simulation_control.proto
+  ssl_simulation_error.proto
+  ssl_simulation_robot_control.proto
+  ssl_simulation_robot_feedback.proto
+  ssl_simulation_synchronous.proto
 )
 
+# ssl-simulation-protocol vendors its own flat copies of ssl_gc_common and
+# ssl_vision_{detection,geometry}. Protobuf identifies files by import path, so
+# compiling both copies would define RobotId etc. twice. Stage the sim protos
+# with those imports pointed at the ssl-game-controller files instead; the
+# submodule itself is left untouched.
+set(SIM_IMPORT_REWRITES
+  "ssl_gc_common.proto" "state/ssl_gc_common.proto"
+  "ssl_vision_detection.proto" "vision/ssl_vision_detection.proto"
+  "ssl_vision_geometry.proto" "vision/ssl_vision_geometry.proto"
+)
+
+foreach(proto ${SIM_PROTOS})
+  file(READ ${SIM_PROTO_SRC}/${proto} content)
+  set(rewrites ${SIM_IMPORT_REWRITES})
+  while(rewrites)
+    list(POP_FRONT rewrites from to)
+    string(REPLACE "import \"${from}\";" "import \"${to}\";" content "${content}")
+  endwhile()
+  file(CONFIGURE OUTPUT ${SIM_PROTO_ROOT}/${proto} CONTENT "${content}" @ONLY)
+  set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${SIM_PROTO_SRC}/${proto})
+endforeach()
+
+set(PROTO_FILES)
+foreach(proto ${GC_PROTOS})
+  list(APPEND PROTO_FILES ${GC_PROTO_ROOT}/${proto})
+endforeach()
+foreach(proto ${SIM_PROTOS})
+  list(APPEND PROTO_FILES ${SIM_PROTO_ROOT}/${proto})
+endforeach()
+
+set(PROTO_SRCS)
+set(PROTO_HDRS)
+foreach(proto ${GC_PROTOS} ${SIM_PROTOS})
+  string(REGEX REPLACE "\\.proto$" "" proto_base ${proto})
+  set(proto_src ${GEN_DIR}/${proto_base}.pb.cc)
+  set(proto_hdr ${GEN_DIR}/${proto_base}.pb.h)
+  if(proto IN_LIST GC_PROTOS)
+    set(proto_file ${GC_PROTO_ROOT}/${proto})
+  else()
+    set(proto_file ${SIM_PROTO_ROOT}/${proto})
+  endif()
+  add_custom_command(
+    OUTPUT ${proto_src} ${proto_hdr}
+    COMMAND ${CMAKE_COMMAND} -E make_directory ${GEN_DIR}
+    COMMAND protobuf::protoc
+      --cpp_out=${GEN_DIR}
+      -I ${GC_PROTO_ROOT}
+      -I ${SIM_PROTO_ROOT}
+      ${proto_file}
+    DEPENDS ${PROTO_FILES} protobuf::protoc
+    COMMENT "Running C++ protocol buffer compiler on ${proto}"
+    VERBATIM
+  )
+  list(APPEND PROTO_SRCS ${proto_src})
+  list(APPEND PROTO_HDRS ${proto_hdr})
+endforeach()
+
 add_library(${PROJECT_NAME} SHARED
-  ${PROTOBUF_HDRS}
-  ${PROTOBUF_SRCS}
+  ${PROTO_SRCS}
+  ${PROTO_HDRS}
 )
 
 target_link_libraries(${PROJECT_NAME}
   protobuf::libprotobuf
 )
 
+# Consumers include <rj_protos/...>; generated code includes e.g.
+# "state/ssl_gc_common.pb.h", so the rj_protos dir itself is also needed.
 target_include_directories(${PROJECT_NAME}
-  INTERFACE
-    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
+  PUBLIC
+    $<BUILD_INTERFACE:${GEN_ROOT}>
+    $<BUILD_INTERFACE:${GEN_DIR}>
     $<INSTALL_INTERFACE:include>
+    $<INSTALL_INTERFACE:include/rj_protos>
 )
 
 target_compile_options(${PROJECT_NAME} PRIVATE -Wno-deprecated-declarations)
 
-ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(Protobuf)
-
 install(
-  DIRECTORY ${CMAKE_BINARY_DIR}
+  DIRECTORY ${GEN_DIR}
   DESTINATION include
+  FILES_MATCHING PATTERN "*.pb.h"
 )
 
 install(
@@ -63,5 +126,6 @@ install(
   INCLUDES DESTINATION include
 )
 
-ament_export_targets(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(Protobuf)
 ament_package()
diff --git a/src/rj_protos/protos/ssl-game-controller b/src/rj_protos/protos/ssl-game-controller
deleted file mode 160000
index b176f48c9aa..00000000000
--- a/src/rj_protos/protos/ssl-game-controller
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit b176f48c9aa2c1dbfdf4ee7bb39548630a734b91
diff --git a/src/rj_protos/protos/ssl_simulation_config.proto b/src/rj_protos/protos/ssl_simulation_config.proto
deleted file mode 100644
index 885d2af75c3..00000000000
--- a/src/rj_protos/protos/ssl_simulation_config.proto
+++ /dev/null
@@ -1,77 +0,0 @@
-syntax = "proto2";
-option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
-
-import "ssl_gc_common.proto";
-import "ssl_vision_geometry.proto";
-import "google/protobuf/any.proto";
-
-// Movement limits for a robot
-message RobotLimits {
-    // Max absolute speed-up acceleration [m/s^2]
-    optional float acc_speedup_absolute_max = 1;
-    // Max angular speed-up acceleration [rad/s^2]
-    optional float acc_speedup_angular_max = 2;
-    // Max absolute brake acceleration [m/s^2]
-    optional float acc_brake_absolute_max = 3;
-    // Max angular brake acceleration [rad/s^2]
-    optional float acc_brake_angular_max = 4;
-    // Max absolute velocity [m/s]
-    optional float vel_absolute_max = 5;
-    // Max angular velocity [rad/s]
-    optional float vel_angular_max = 6;
-}
-
-// Robot wheel angle configuration
-// all angles are relative to looking forward,
-// all wheels / angles are clockwise
-message RobotWheelAngles {
-    // Angle front right [rad]
-    required float front_right = 1;
-    // Angle back right [rad]
-    required float back_right = 2;
-    // Angle back left [rad]
-    required float back_left = 3;
-    // Angle front left [rad]
-    required float front_left = 4;
-}
-
-// Specs of a robot
-message RobotSpecs {
-    // Id of the robot
-    required RobotId id = 1;
-    // Robot radius [m]
-    optional float radius = 2 [default = 0.09];
-    // Robot height [m]
-    optional float height = 3 [default = 0.15];
-    // Robot mass [kg]
-    optional float mass = 4;
-    // Max linear kick speed [m/s] (unset = unlimited)
-    optional float max_linear_kick_speed = 7;
-    // Max chip kick speed [m/s] (unset = unlimited)
-    optional float max_chip_kick_speed = 8;
-    // Distance from robot center to dribbler [m] (implicitly defines the opening angle and dribbler width)
-    optional float center_to_dribbler = 9;
-    // Movement limits
-    optional RobotLimits limits = 10;
-    // Wheel angle configuration
-    optional RobotWheelAngles wheel_angles = 13;
-    // Custom robot spec for specific simulators (the protobuf files are managed by the simulators)
-    optional google.protobuf.Any custom = 14;
-}
-
-message RealismConfig {
-    // Custom config for specific simulators (the protobuf files are managed by the simulators)
-    optional google.protobuf.Any custom = 1;
-}
-
-// Change the simulator configuration
-message SimulatorConfig {
-    // Update the geometry
-    optional SSL_GeometryData geometry = 1;
-    // Update the robot specs
-    repeated RobotSpecs robot_specs = 2;
-    // Update realism configuration
-    optional RealismConfig realism_config = 3;
-    // Change the vision publish port
-    optional uint32 vision_port = 4;
-}
\ No newline at end of file
diff --git a/src/rj_protos/protos/ssl_simulation_control.proto b/src/rj_protos/protos/ssl_simulation_control.proto
deleted file mode 100644
index a9b5c5919c9..00000000000
--- a/src/rj_protos/protos/ssl_simulation_control.proto
+++ /dev/null
@@ -1,73 +0,0 @@
-syntax = "proto2";
-option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
-
-import "ssl_gc_common.proto";
-import "ssl_simulation_config.proto";
-import "ssl_simulation_error.proto";
-
-// Teleport the ball to a new location and optionally set it to some velocity
-message TeleportBall {
-    // x-coordinate [m]
-    optional float x = 1;
-    // y-coordinate [m]
-    optional float y = 2;
-    // z-coordinate (height) [m]
-    optional float z = 3;
-    // Velocity in x-direction [m/s]
-    optional float vx = 4;
-    // Velocity in y-direction [m/s]
-    optional float vy = 5;
-    // Velocity in z-direction [m/s]
-    optional float vz = 6;
-    // Teleport the ball safely to the target, for example by
-    // moving robots out of the way in case of collision and set speed of robots close-by to zero
-    optional bool teleport_safely = 7 [default = false];
-    // Adapt the angular ball velocity such that the ball is rolling
-    optional bool roll = 8 [default = false];
-}
-
-// Teleport a robot to some location and give it a velocity
-message TeleportRobot {
-    // Robot id to teleport
-    required RobotId id = 1;
-    // x-coordinate [m]
-    optional float x = 2;
-    // y-coordinate [m]
-    optional float y = 3;
-    // Orientation [rad], measured from the x-axis counter-clockwise
-    optional float orientation = 4;
-    // Global velocity [m/s] towards x-axis
-    optional float v_x = 5 [default = 0];
-    // Global velocity [m/s] towards y-axis
-    optional float v_y = 6 [default = 0];
-    // Angular velocity [rad/s]
-    optional float v_angular = 7 [default = 0];
-    // Robot should be present on the field?
-    // true -> robot will be added, if it does not exist yet
-    // false -> robot will be removed, if it is present
-    optional bool present = 8;
-}
-
-// Control the simulation
-message SimulatorControl {
-    // Teleport the ball
-    optional TeleportBall teleport_ball = 1;
-    // Teleport robots
-    repeated TeleportRobot teleport_robot = 2;
-    // Change the simulation speed
-    optional float simulation_speed = 3;
-}
-
-// Command from the connected client to the simulator
-message SimulatorCommand {
-    // Control the simulation
-    optional SimulatorControl control = 1;
-    // Configure the simulation
-    optional SimulatorConfig config = 2;
-}
-
-// Response of the simulator to the connected client
-message SimulatorResponse {
-    // List of errors, like using unsupported features
-    repeated SimulatorError errors = 1;
-}
diff --git a/src/rj_protos/protos/ssl_simulation_error.proto b/src/rj_protos/protos/ssl_simulation_error.proto
deleted file mode 100644
index 92c732fa254..00000000000
--- a/src/rj_protos/protos/ssl_simulation_error.proto
+++ /dev/null
@@ -1,10 +0,0 @@
-syntax = "proto2";
-option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
-
-// Errors in the simulator
-message SimulatorError {
-    // Unique code of the error for automatic handling on client side
-    optional string code = 1;
-    // Human readable description of the error
-    optional string message = 2;
-}
diff --git a/src/rj_protos/protos/ssl_simulation_robot_control.proto b/src/rj_protos/protos/ssl_simulation_robot_control.proto
deleted file mode 100644
index 981b8436826..00000000000
--- a/src/rj_protos/protos/ssl_simulation_robot_control.proto
+++ /dev/null
@@ -1,66 +0,0 @@
-syntax = "proto2";
-option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
-
-// Full command for a single robot
-message RobotCommand {
-    // Id of the robot
-    required uint32 id = 1;
-    // Movement command
-    optional RobotMoveCommand move_command = 2;
-    // Absolute (3 dimensional) kick speed [m/s]
-    optional float kick_speed = 3;
-    // Kick angle [degree] (defaults to 0 degrees for a straight kick)
-    optional float kick_angle = 4 [default = 0];
-    // Dribbler speed in rounds per minute [rpm]
-    optional float dribbler_speed = 5;
-}
-
-// Wrapper for different kinds of movement commands
-message RobotMoveCommand {
-    oneof command {
-        // Move with wheel velocities
-        MoveWheelVelocity wheel_velocity = 1;
-        // Move with local velocity
-        MoveLocalVelocity local_velocity = 2;
-        // Move with global velocity
-        MoveGlobalVelocity global_velocity = 3;
-    }
-}
-
-// Move robot with wheel velocities
-message MoveWheelVelocity {
-    // Velocity [m/s] of front right wheel
-    required float front_right = 1;
-    // Velocity [m/s] of back right wheel
-    required float back_right = 2;
-    // Velocity [m/s] of back left wheel
-    required float back_left = 3;
-    // Velocity [m/s] of front left wheel
-    required float front_left = 4;
-}
-
-// Move robot with local velocity
-message MoveLocalVelocity {
-    // Velocity forward [m/s] (towards the dribbler)
-    required float forward = 1;
-    // Velocity to the left [m/s]
-    required float left = 2;
-    // Angular velocity counter-clockwise [rad/s]
-    required float angular = 3;
-}
-
-// Move robot with global velocity
-message MoveGlobalVelocity {
-    // Velocity on x-axis of the field [m/s]
-    required float x = 1;
-    // Velocity on y-axis of the field [m/s]
-    required float y = 2;
-    // Angular velocity counter-clockwise [rad/s]
-    required float angular = 3;
-}
-
-// Command from the connected client to the simulator
-message RobotControl {
-    // Control the robots
-    repeated RobotCommand robot_commands = 1;
-}
diff --git a/src/rj_protos/protos/ssl_simulation_robot_feedback.proto b/src/rj_protos/protos/ssl_simulation_robot_feedback.proto
deleted file mode 100644
index ddbf214f61f..00000000000
--- a/src/rj_protos/protos/ssl_simulation_robot_feedback.proto
+++ /dev/null
@@ -1,23 +0,0 @@
-syntax = "proto2";
-option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
-
-import "ssl_simulation_error.proto";
-import "google/protobuf/any.proto";
-
-// Feedback from a robot
-message RobotFeedback {
-    // Id of the robot
-    required uint32 id = 1;
-    // Has the dribbler contact to the ball right now
-    optional bool dribbler_ball_contact = 2;
-    // Custom robot feedback for specific simulators (the protobuf files are managed by the simulators)
-    optional google.protobuf.Any custom = 3;
-}
-
-// Response to RobotControl from the simulator to the connected client
-message RobotControlResponse {
-    // List of errors, like using unsupported features
-    repeated SimulatorError errors = 1;
-    // Feedback of the robots
-    repeated RobotFeedback feedback = 2;
-}
diff --git a/src/rj_protos/protos/ssl_simulation_synchronous.proto b/src/rj_protos/protos/ssl_simulation_synchronous.proto
deleted file mode 100644
index b8dde5dd4b1..00000000000
--- a/src/rj_protos/protos/ssl_simulation_synchronous.proto
+++ /dev/null
@@ -1,25 +0,0 @@
-syntax = "proto2";
-option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
-
-import "ssl_vision_detection.proto";
-import "ssl_simulation_robot_feedback.proto";
-import "ssl_simulation_robot_control.proto";
-import "ssl_simulation_control.proto";
-
-// Request from the team to the simulator
-message SimulationSyncRequest {
-    // The simulation step [s] to perform
-    optional float sim_step = 1;
-    // An optional simulator command
-    optional SimulatorCommand simulator_command = 2;
-    // An optional robot control command
-    optional RobotControl robot_control = 3;
-}
-
-// Response to last SimulationSyncRequest
-message SimulationSyncResponse {
-    // List of detection frames for all cameras with the state after the simulation step in the request was performed
-    repeated SSL_DetectionFrame detection = 1;
-    // An optional robot control response
-    optional RobotControlResponse robot_control_response = 2;
-}
diff --git a/src/rj_protos/protos/ssl_vision_detection.proto b/src/rj_protos/protos/ssl_vision_detection.proto
deleted file mode 100644
index 0586974f111..00000000000
--- a/src/rj_protos/protos/ssl_vision_detection.proto
+++ /dev/null
@@ -1,33 +0,0 @@
-syntax = "proto2";
-option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
-
-message SSL_DetectionBall {
-  required float  confidence = 1;
-  optional uint32 area       = 2;
-  required float  x          = 3;
-  required float  y          = 4;
-  optional float  z          = 5;
-  required float  pixel_x    = 6;
-  required float  pixel_y    = 7;
-}
-
-message SSL_DetectionRobot {
-  required float  confidence  =  1;
-  optional uint32 robot_id    =  2;
-  required float  x           =  3;
-  required float  y           =  4;
-  optional float  orientation =  5;
-  required float  pixel_x     =  6;
-  required float  pixel_y     =  7;
-  optional float  height      =  8;
-}
-
-message SSL_DetectionFrame {
-  required uint32             frame_number  = 1;
-  required double             t_capture     = 2;
-  required double             t_sent        = 3;
-  required uint32             camera_id     = 4;
-  repeated SSL_DetectionBall  balls         = 5;
-  repeated SSL_DetectionRobot robots_yellow = 6;
-  repeated SSL_DetectionRobot robots_blue   = 7;
-}
diff --git a/src/rj_protos/protos/ssl_vision_geometry.proto b/src/rj_protos/protos/ssl_vision_geometry.proto
deleted file mode 100644
index 440fd1e10a6..00000000000
--- a/src/rj_protos/protos/ssl_vision_geometry.proto
+++ /dev/null
@@ -1,130 +0,0 @@
-syntax = "proto2";
-option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
-
-// A 2D float vector.
-message Vector2f {
-  required float x = 1;
-  required float y = 2;
-}
-
-// 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.
-message SSL_FieldLineSegment {
-  // Name of this field marking.
-  required string name = 1;
-  // Start point of the line segment.
-  required Vector2f p1 = 2;
-  // End point of the line segment.
-  required Vector2f p2 = 3;
-  // Thickness of the line segment.
-  required float thickness = 4;
-  // The type of this shape
-  optional SSL_FieldShapeType type = 5;
-}
-
-// Represents a field marking as a circular arc segment represented by center point, a
-// start angle, an end angle, and an arc thickness.
-message SSL_FieldCircularArc {
-  // Name of this field marking.
-  required string name = 1;
-  // Center point of the circular arc.
-  required Vector2f center = 2;
-  // Radius of the arc.
-  required float radius = 3;
-  // Start angle in counter-clockwise order.
-  required float a1 = 4;
-  // End angle in counter-clockwise order.
-  required float a2 = 5;
-  // Thickness of the arc.
-  required float thickness = 6;
-  // The type of this shape
-  optional SSL_FieldShapeType type = 7;
-}
-
-message SSL_GeometryFieldSize {
-  required int32 field_length = 1;
-  required int32 field_width = 2;
-  required int32 goal_width = 3;
-  required int32 goal_depth = 4;
-  required int32 boundary_width = 5;
-  repeated SSL_FieldLineSegment field_lines = 6;
-  repeated SSL_FieldCircularArc field_arcs = 7;
-  optional int32 penalty_area_depth = 8;
-  optional int32 penalty_area_width = 9;
-}
-
-message SSL_GeometryCameraCalibration {
-  required uint32 camera_id     = 1;
-  required float focal_length = 2;
-  required float principal_point_x = 3;
-  required float principal_point_y = 4;
-  required float distortion = 5;
-  required float q0 = 6;
-  required float q1 = 7;
-  required float q2 = 8;
-  required float q3 = 9;
-  required float tx = 10;
-  required float ty = 11;
-  required float tz = 12;
-  optional float derived_camera_world_tx = 13;
-  optional float derived_camera_world_ty = 14;
-  optional float derived_camera_world_tz = 15;
-  optional uint32 pixel_image_width = 16;
-  optional uint32 pixel_image_height = 17;
-}
-
-// 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
-message SSL_BallModelStraightTwoPhase {
-  // Ball sliding acceleration [m/s^2] (should be negative)
-  required double acc_slide = 1;
-  // Ball rolling acceleration [m/s^2] (should be negative)
-  required double acc_roll = 2;
-  // Fraction of the initial velocity where the ball starts to roll
-  required double k_switch = 3;
-}
-
-// Fixed-Loss model for chipped balls.
-// Uses fixed damping factors for xy and z direction per hop.
-message SSL_BallModelChipFixedLoss {
-  // Chip kick velocity damping factor in XY direction for the first hop
-  required double damping_xy_first_hop = 1;
-  // Chip kick velocity damping factor in XY direction for all following hops
-  required double damping_xy_other_hops = 2;
-  // Chip kick velocity damping factor in Z direction for all hops
-  required double damping_z = 3;
-}
-
-message SSL_GeometryModels {
-  optional SSL_BallModelStraightTwoPhase straight_two_phase = 1;
-  optional SSL_BallModelChipFixedLoss chip_fixed_loss = 2;
-}
-
-message SSL_GeometryData {
-  required SSL_GeometryFieldSize field = 1;
-  repeated SSL_GeometryCameraCalibration calib = 2;
-  optional SSL_GeometryModels models = 3;
-}
-
-enum SSL_FieldShapeType {
-  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;
-}
\ No newline at end of file
diff --git a/src/rj_protos/protos/ssl_vision_wrapper.proto b/src/rj_protos/protos/ssl_vision_wrapper.proto
deleted file mode 100644
index e8be7fb0aa8..00000000000
--- a/src/rj_protos/protos/ssl_vision_wrapper.proto
+++ /dev/null
@@ -1,9 +0,0 @@
-syntax = "proto2";
-
-import "ssl_vision_detection.proto";
-import "ssl_vision_geometry.proto";
-
-message SSL_WrapperPacket {
-  optional SSL_DetectionFrame detection = 1;
-  optional SSL_GeometryData geometry = 2;
-}
diff --git a/src/rj_protos/ssl-simulation-protocol b/src/rj_protos/ssl-simulation-protocol
new file mode 160000
index 00000000000..65ad6148671
--- /dev/null
+++ b/src/rj_protos/ssl-simulation-protocol
@@ -0,0 +1 @@
+Subproject commit 65ad6148671a2b1ead58be0b625ca0f8d269ced8
diff --git a/src/rj_radio/src/sim_radio.cpp b/src/rj_radio/src/sim_radio.cpp
index 11e36b360ee..acd6c29bc2e 100644
--- a/src/rj_radio/src/sim_radio.cpp
+++ b/src/rj_radio/src/sim_radio.cpp
@@ -42,7 +42,7 @@ static SimulatorCommand convert_placement_to_proto(
         // TODO(Kevin): make this only happen in sim (set a param)
         // this line sets robots with an ID above 6 to "not present", meaning
         // they will be removed on their next sim command
-        // see "rj_protos/proto/ssl_simulation_control.proto"
+        // see "rj_protos/ssl-simulation-protocol/proto/ssl_simulation_control.proto"
         //
         // to see this in effect, click and drag the robots expected to be not
         // present and they should disappear
diff --git a/src/rj_referee/include/rj_referee/external_referee.hpp b/src/rj_referee/include/rj_referee/external_referee.hpp
index 6c1821b242e..44a7eacc918 100644
--- a/src/rj_referee/include/rj_referee/external_referee.hpp
+++ b/src/rj_referee/include/rj_referee/external_referee.hpp
@@ -25,7 +25,7 @@
 #include <rj_geometry/ssl_ball_constants.hpp>
 #include <rj_msgs/msg/raw_protobuf.hpp>
 #include <rj_param_utils/param.hpp>
-#include <rj_protos/referee.pb.h>
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
 #include <rj_utils/logging_macros.hpp>
 #include <unistd.h>
 
diff --git a/src/rj_ui/include/rj_ui/main_window.hpp b/src/rj_ui/include/rj_ui/main_window.hpp
index 87dafc5c461..6218b75c065 100644
--- a/src/rj_ui/include/rj_ui/main_window.hpp
+++ b/src/rj_ui/include/rj_ui/main_window.hpp
@@ -33,8 +33,6 @@
 #include <rj_msgs/srv/quick_commands.hpp>
 #include <rj_msgs/srv/quick_restart.hpp>
 #include <rj_msgs/srv/set_game_settings.hpp>
-#include <rj_protos/grSim_Packet.pb.h>
-#include <rj_protos/grSim_Replacement.pb.h>
 #include <rj_strategy/agent/position/overriding_positions.hpp>
 #include <std_msgs/msg/string.hpp>
 
diff --git a/src/rj_ui/include/rj_ui/sim_field_view.hpp b/src/rj_ui/include/rj_ui/sim_field_view.hpp
index d4dbf720e71..73b2a290617 100644
--- a/src/rj_ui/include/rj_ui/sim_field_view.hpp
+++ b/src/rj_ui/include/rj_ui/sim_field_view.hpp
@@ -13,9 +13,6 @@
 #include <rj_msgs/msg/ball_placement.hpp>
 #include <rj_msgs/msg/robot_placement.hpp>
 #include <rj_msgs/srv/sim_placement.hpp>
-#include <rj_protos/grSim_Commands.pb.h>
-#include <rj_protos/grSim_Packet.pb.h>
-#include <rj_protos/grSim_Replacement.pb.h>
 
 #include "rj_ui/field_view.hpp"
 
diff --git a/src/rj_ui/src/main_window.cpp b/src/rj_ui/src/main_window.cpp
index aa9fd6b2663..075e3a4af84 100644
--- a/src/rj_ui/src/main_window.cpp
+++ b/src/rj_ui/src/main_window.cpp
@@ -34,8 +34,6 @@
 #include <rj_msgs/srv/quick_commands.hpp>
 #include <rj_msgs/srv/quick_restart.hpp>
 #include <rj_msgs/srv/set_game_settings.hpp>
-#include <rj_protos/grSim_Packet.pb.h>
-#include <rj_protos/grSim_Replacement.pb.h>
 #include <rj_strategy/agent/position/overriding_positions.hpp>
 #include <std_msgs/msg/string.hpp>
 
diff --git a/src/rj_ui/src/sim_field_view.cpp b/src/rj_ui/src/sim_field_view.cpp
index 7defc35567a..a56091b9ebe 100644
--- a/src/rj_ui/src/sim_field_view.cpp
+++ b/src/rj_ui/src/sim_field_view.cpp
@@ -10,9 +10,6 @@
 #include <rj_msgs/msg/ball_placement.hpp>
 #include <rj_msgs/msg/robot_placement.hpp>
 #include <rj_msgs/srv/sim_placement.hpp>
-#include <rj_protos/grSim_Commands.pb.h>
-#include <rj_protos/grSim_Packet.pb.h>
-#include <rj_protos/grSim_Replacement.pb.h>
 
 #include "rj_ui/field_view.hpp"
 
diff --git a/src/rj_utils/include/rj_utils/conversions.hpp b/src/rj_utils/include/rj_utils/conversions.hpp
index f8d868c7873..32d95f85b3b 100644
--- a/src/rj_utils/include/rj_utils/conversions.hpp
+++ b/src/rj_utils/include/rj_utils/conversions.hpp
@@ -1,7 +1,6 @@
 #pragma once
 
-#include <rj_protos/ssl_vision_wrapper.pb.h>
-#include <rj_protos/ssl_vision_wrapper.pb.h>
+#include <rj_protos/vision/ssl_vision_wrapper.pb.h>
 #include <rj_convert/ros_convert.hpp>
 #include <rj_msgs/msg/detection_ball.hpp>
 #include <rj_msgs/msg/detection_robot.hpp>
diff --git a/src/rj_vision_receiver/include/rj_vision_receiver/stamped_wrapper_packet.hpp b/src/rj_vision_receiver/include/rj_vision_receiver/stamped_wrapper_packet.hpp
index 83092aa6441..07c37b7e1a7 100644
--- a/src/rj_vision_receiver/include/rj_vision_receiver/stamped_wrapper_packet.hpp
+++ b/src/rj_vision_receiver/include/rj_vision_receiver/stamped_wrapper_packet.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <rj_protos/ssl_vision_wrapper.pb.h>
+#include <rj_protos/vision/ssl_vision_wrapper.pb.h>
 
 #include <rclcpp/time.hpp>
 
diff --git a/src/rj_vision_receiver/include/rj_vision_receiver/vision_receiver.hpp b/src/rj_vision_receiver/include/rj_vision_receiver/vision_receiver.hpp
index 1380db4ac19..94af2c30f49 100644
--- a/src/rj_vision_receiver/include/rj_vision_receiver/vision_receiver.hpp
+++ b/src/rj_vision_receiver/include/rj_vision_receiver/vision_receiver.hpp
@@ -11,7 +11,7 @@
 #include <rj_msgs/msg/detection_frame.hpp>
 #include <rj_msgs/msg/raw_protobuf.hpp>
 #include <rj_param_utils/ros2_local_param_provider.hpp>
-#include <rj_protos/ssl_vision_wrapper.pb.h>
+#include <rj_protos/vision/ssl_vision_wrapper.pb.h>
 #include <rj_utils/concurrent_queue.hpp>
 #include <rj_vision_receiver/stamped_wrapper_packet.hpp>
 

From 2e850b50feedac17cfeb721aff8b5018a4da5a43 Mon Sep 17 00:00:00 2001
From: rishiso <rishisoni.5678@gmail.com>
Date: Tue, 29 Sep 2026 20:45:08 -0400
Subject: [PATCH 14/21] .

---
 src/rj_geometry/CMakeLists.txt |  2 --
 src/rj_geometry/package.xml    |  1 -
 src/rj_protos/CMakeLists.txt   | 10 +++-------
 src/rj_protos/README.md        | 30 +++++++++++++++---------------
 src/rj_ui/CMakeLists.txt       |  2 --
 src/rj_ui/package.xml          |  1 -
 6 files changed, 18 insertions(+), 28 deletions(-)

diff --git a/src/rj_geometry/CMakeLists.txt b/src/rj_geometry/CMakeLists.txt
index 8eafc55f32e..e6b3441f99d 100644
--- a/src/rj_geometry/CMakeLists.txt
+++ b/src/rj_geometry/CMakeLists.txt
@@ -14,7 +14,6 @@ find_package(Eigen3 REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Qt5 COMPONENTS Core REQUIRED)
 find_package(fmt REQUIRED)
-find_package(rj_protos REQUIRED)
 find_package(rj_convert REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
@@ -23,7 +22,6 @@ find_package(rj_geometry_msgs REQUIRED)
 set(RJ_GEOMETRY_DEPS
   Eigen3
   fmt
-  rj_protos
   rj_convert
   rj_geometry_msgs
 )
diff --git a/src/rj_geometry/package.xml b/src/rj_geometry/package.xml
index 0f10d9212e2..1573163a2aa 100644
--- a/src/rj_geometry/package.xml
+++ b/src/rj_geometry/package.xml
@@ -13,7 +13,6 @@
   <depend>eigen3</depend>
   <depend>std_msgs</depend>
 
-  <depend>rj_protos</depend>
   <depend>rj_convert</depend>
   <depend>rj_geometry_msgs</depend>
 
diff --git a/src/rj_protos/CMakeLists.txt b/src/rj_protos/CMakeLists.txt
index 094a75a9ef4..082b243ecda 100644
--- a/src/rj_protos/CMakeLists.txt
+++ b/src/rj_protos/CMakeLists.txt
@@ -33,11 +33,9 @@ set(SIM_PROTOS
   ssl_simulation_synchronous.proto
 )
 
-# ssl-simulation-protocol vendors its own flat copies of ssl_gc_common and
-# ssl_vision_{detection,geometry}. Protobuf identifies files by import path, so
-# compiling both copies would define RobotId etc. twice. Stage the sim protos
-# with those imports pointed at the ssl-game-controller files instead; the
-# submodule itself is left untouched.
+# There are duplicate protos in ssl-game-controller and ssl-simulation-protocol.
+# In order to avoid duplicates, we rename the imports in ssl-simulation-protocol
+# to point to the ssl-game-controller ones instead.
 set(SIM_IMPORT_REWRITES
   "ssl_gc_common.proto" "state/ssl_gc_common.proto"
   "ssl_vision_detection.proto" "vision/ssl_vision_detection.proto"
@@ -99,8 +97,6 @@ target_link_libraries(${PROJECT_NAME}
   protobuf::libprotobuf
 )
 
-# Consumers include <rj_protos/...>; generated code includes e.g.
-# "state/ssl_gc_common.pb.h", so the rj_protos dir itself is also needed.
 target_include_directories(${PROJECT_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${GEN_ROOT}>
diff --git a/src/rj_protos/README.md b/src/rj_protos/README.md
index 12b1b9e3530..ddfde5d5f02 100644
--- a/src/rj_protos/README.md
+++ b/src/rj_protos/README.md
@@ -4,10 +4,10 @@ Reusable assessment, refactor, and verification template.
 
 | Package Details | Entry |
 | --- | --- |
-| **Package name** |  |
-| **Assigned owner(s)** |  |
-| **Reviewer(s)** |  |
-| **Date started revision** |  |
+| **Package name** | `rj_protos` |
+| **Assigned owner(s)** | Sanat Dhanyamraju |
+| **Reviewer(s)** | Cameron Lyon, Nate Wert |
+| **Date started revision** | 9/1/2026 |
 
 ## 1. Package Identity and Tier
 
@@ -15,9 +15,9 @@ Define the package's purpose and fixed architectural classification before work
 
 | Field | Details |
 | --- | --- |
-| **Plain-language purpose** | _Explain what the package does so a new contributor can understand it._ |
-| **Current responsibilities** | _List the responsibilities currently owned by this package._ |
-| **Out of scope** | _State what this package must not own or attempt to solve._ |
+| **Plain-language purpose** | Contains protobuf files for  SSL-owned interfaces such as game controller and vision processor. |
+| **Current responsibilities** | Owns the protocol for recieving data from SSL-owned interfaces. |
+| **Out of scope** | Does not contain any logic behind how these messages are parsed or how the data is used. |
 
 ## 2. Dependency Rules
 
@@ -27,17 +27,17 @@ Map package relationships before adding, deleting, or moving code. Dependency di
 
 | Field | Details |
 | --- | --- |
-| **Depends on** | _Enter the explicit dependency list from `package.xml`._ |
-| **Depended on by** | _List packages, executables, or systems that consume this package._ |
+| **Depends on** | None |
+| **Depended on by** | `rj_common`, `rj_radio`, `rj_referee`, `rj_utils`, `rj_vision_receiver` |
 
 
 ## 3. Operational Expectations
 
 | Field | Details |
 | --- | --- |
-| **Failure behavior** | _Describe behavior when an upstream input, sensor, network link, radio, or other dependency fails._ |
-| **Recovery behavior** | _Describe automatic recovery, retry, fallback, and operator intervention requirements._ |
-| **Configuration** | _List required parameters, defaults, validation rules, and configuration files._ |
+| **Failure behavior** | If the SSL protos migrate to a different repo, this will no longer stay up-to-date with SSL. |
+| **Recovery behavior** | Modify the package to submodule the new repo. |
+| **Configuration** | CMakeLists.txt contains the list of protos we build, this needs to be updated when we want to use a new proto from SSL. |
 
 ## 4. Testing
 
@@ -45,6 +45,6 @@ Map package relationships before adding, deleting, or moving code. Dependency di
 
 | Field | Details |
 | --- | --- |
-| **Unit testing** | _Describe what unit tests were used on this package and how._ |
-| **Coverage gaps** | _List untested algorithms, branches, failure paths, and outlier cases._ |
-| **Observed outliers** | _Record flaky behavior, nondeterminism, timing spikes, or unexpected results._ |
+| **Unit testing** | No testing exists as this package contains no code. |
+| **Coverage gaps** | N/A |
+| **Observed outliers** | N/A |
diff --git a/src/rj_ui/CMakeLists.txt b/src/rj_ui/CMakeLists.txt
index fb5525eefcf..ebedc0c09d8 100644
--- a/src/rj_ui/CMakeLists.txt
+++ b/src/rj_ui/CMakeLists.txt
@@ -22,7 +22,6 @@ find_package(std_msgs REQUIRED)
 find_package(fmt REQUIRED)
 find_package(rj_common REQUIRED)
 find_package(rj_param_utils REQUIRED)
-find_package(rj_protos REQUIRED)
 find_package(rj_geometry REQUIRED)
 find_package(rj_utils REQUIRED)
 find_package(rj_planning REQUIRED)
@@ -92,7 +91,6 @@ set(RJ_UI_DEPS
   fmt
   rj_common
   rj_param_utils
-  rj_protos
   rj_geometry
   rj_utils
   rj_planning
diff --git a/src/rj_ui/package.xml b/src/rj_ui/package.xml
index e9e812c736a..7384e85eab0 100644
--- a/src/rj_ui/package.xml
+++ b/src/rj_ui/package.xml
@@ -18,7 +18,6 @@
 
   <depend>rj_common</depend>
   <depend>rj_param_utils</depend>
-  <depend>rj_protos</depend>
   <depend>rj_geometry</depend>
   <depend>rj_utils</depend>
   <depend>rj_planning</depend>

From 23ebb31546ee8b6b5b91008c0b6316a21647408a Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 29 Sep 2026 20:55:45 -0400
Subject: [PATCH 15/21] Fix Code Style On sd/rj_protos (#2583)

automated style fixes

Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com>
---
 src/rj_common/include/rj_common/referee_enums.hpp           | 4 ++--
 src/rj_common/include/rj_common/team_info.hpp               | 6 +++---
 src/rj_utils/include/rj_utils/conversions.hpp               | 2 +-
 .../include/rj_vision_receiver/stamped_wrapper_packet.hpp   | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/rj_common/include/rj_common/referee_enums.hpp b/src/rj_common/include/rj_common/referee_enums.hpp
index 08682c8d78d..ef19445e57c 100644
--- a/src/rj_common/include/rj_common/referee_enums.hpp
+++ b/src/rj_common/include/rj_common/referee_enums.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <rj_protos/state/ssl_gc_referee_message.pb.h>
-
 #include <string>
 
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
+
 namespace referee_module_enums {
 
 using Stage = Referee_Stage;
diff --git a/src/rj_common/include/rj_common/team_info.hpp b/src/rj_common/include/rj_common/team_info.hpp
index 542d087413c..4aabff6622d 100644
--- a/src/rj_common/include/rj_common/team_info.hpp
+++ b/src/rj_common/include/rj_common/team_info.hpp
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <rj_protos/state/ssl_gc_referee_message.pb.h>
+#include <string>
+#include <vector>
 
 #include <rj_common/time.hpp>
 #include <rj_msgs/msg/team_info.hpp>
-#include <string>
-#include <vector>
+#include <rj_protos/state/ssl_gc_referee_message.pb.h>
 
 // Information about a single team.
 class TeamInfo {
diff --git a/src/rj_utils/include/rj_utils/conversions.hpp b/src/rj_utils/include/rj_utils/conversions.hpp
index 32d95f85b3b..53960837694 100644
--- a/src/rj_utils/include/rj_utils/conversions.hpp
+++ b/src/rj_utils/include/rj_utils/conversions.hpp
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <rj_protos/vision/ssl_vision_wrapper.pb.h>
 #include <rj_convert/ros_convert.hpp>
 #include <rj_msgs/msg/detection_ball.hpp>
 #include <rj_msgs/msg/detection_robot.hpp>
 #include <rj_msgs/msg/raw_protobuf.hpp>
+#include <rj_protos/vision/ssl_vision_wrapper.pb.h>
 
 using RawProtobufMsg = rj_msgs::msg::RawProtobuf;
 using DetectionBallMsg = rj_msgs::msg::DetectionBall;
diff --git a/src/rj_vision_receiver/include/rj_vision_receiver/stamped_wrapper_packet.hpp b/src/rj_vision_receiver/include/rj_vision_receiver/stamped_wrapper_packet.hpp
index 07c37b7e1a7..4a0d6405505 100644
--- a/src/rj_vision_receiver/include/rj_vision_receiver/stamped_wrapper_packet.hpp
+++ b/src/rj_vision_receiver/include/rj_vision_receiver/stamped_wrapper_packet.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include <rj_protos/vision/ssl_vision_wrapper.pb.h>
-
 #include <rclcpp/time.hpp>
 
+#include <rj_protos/vision/ssl_vision_wrapper.pb.h>
+
 namespace vision_receiver {
 /**
  * @brief A struct that adds receive time information to a SSL_WrapperPacket.

From 3a2092749df3c9e345457f94b47fc302924c5542 Mon Sep 17 00:00:00 2001
From: rishiso <rishisoni.5678@gmail.com>
Date: Tue, 29 Sep 2026 21:07:01 -0400
Subject: [PATCH 16/21] add submodules to build

---
 makefile          | 3 +++
 util/ubuntu-setup | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/makefile b/makefile
index 56ad6905c67..ed509c0ff53 100644
--- a/makefile
+++ b/makefile
@@ -236,3 +236,6 @@ checktidy-lines:
 	@echo "Removing GCC precompiled headers from compile_commands.json so that clang-tidy will work"
 	@sed -i 's/-include [^ ]*cmake_pch\.hxx//' $(COMPILE_COMMANDS_DIR)/compile_commands.json
 	@git diff -U0 --no-color $(DIFFBASE) | python3 util/clang-tidy-diff.py -clang-tidy-binary $(CLANG_TIDY_BINARY) -p1 -path $(COMPILE_COMMANDS_DIR) -j$(CORES) -checks=-google-runtime-references
+
+update-submodules:
+	git submodule update --init --recursive
diff --git a/util/ubuntu-setup b/util/ubuntu-setup
index efa399dd9d7..4f8e4fa459f 100755
--- a/util/ubuntu-setup
+++ b/util/ubuntu-setup
@@ -166,3 +166,6 @@ apt-get install $ARGS $PACKAGES
 # install python3 requirements
 python3 -m pip install pip==22.1
 pip3 install -r $BASE/util/requirements3.txt
+
+# update submodules
+make update-submodules

From 0519b01ce9aa26f71db374ada81ae06d1e5876cd Mon Sep 17 00:00:00 2001
From: rishiso <rishisoni.5678@gmail.com>
Date: Tue, 29 Sep 2026 21:24:30 -0400
Subject: [PATCH 17/21] /

---
 .github/workflows/ci.yml | 3 +++
 util/ubuntu-setup        | 4 +++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6500958b70a..a9d06bfc74f 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -17,6 +17,9 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Update Submodules
+        run: make update-submodules
+
       - name: Run util/ubuntu-setup as sudo
         run: "./util/ubuntu-setup -y"
 
diff --git a/util/ubuntu-setup b/util/ubuntu-setup
index 4f8e4fa459f..5b6b5262735 100755
--- a/util/ubuntu-setup
+++ b/util/ubuntu-setup
@@ -168,4 +168,6 @@ python3 -m pip install pip==22.1
 pip3 install -r $BASE/util/requirements3.txt
 
 # update submodules
-make update-submodules
+if ! $NO_SUBMODULES; then
+    make update-submodules
+fi

From 055e184b755a5d347df99faad37edbd4586a4f24 Mon Sep 17 00:00:00 2001
From: rishiso <rishisoni.5678@gmail.com>
Date: Tue, 29 Sep 2026 21:25:08 -0400
Subject: [PATCH 18/21] .

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index a9d06bfc74f..9904d680de9 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -21,7 +21,7 @@ jobs:
         run: make update-submodules
 
       - name: Run util/ubuntu-setup as sudo
-        run: "./util/ubuntu-setup -y"
+        run: "./util/ubuntu-setup -y --no-submodules"
 
       - name: Build
         run: source /opt/ros/humble/setup.bash && colcon build --parallel-workers 4

From d2c3d8bf6f055ff1cf7d65e5e6756b005a7afec7 Mon Sep 17 00:00:00 2001
From: rishiso <rishisoni.5678@gmail.com>
Date: Tue, 29 Sep 2026 21:28:25 -0400
Subject: [PATCH 19/21] .

---
 .github/workflows/ci.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9904d680de9..49859edf61b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -16,9 +16,7 @@ jobs:
         uses: actions/checkout@v3
         with:
           fetch-depth: 0
-
-      - name: Update Submodules
-        run: make update-submodules
+          submodules: recursive
 
       - name: Run util/ubuntu-setup as sudo
         run: "./util/ubuntu-setup -y --no-submodules"

From 774b8e909de0f4bb1c2584105278f79c4eed0512 Mon Sep 17 00:00:00 2001
From: Sanat Dhanyamraju <saisanat@gmail.com>
Date: Sun, 11 Oct 2026 17:03:38 -0400
Subject: [PATCH 20/21] comments

---
 src/rj_protos/CMakeLists.txt |  6 ++++++
 src/rj_protos/README.md      |  2 +-
 util/ubuntu-setup            | 10 +++++++---
 3 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/src/rj_protos/CMakeLists.txt b/src/rj_protos/CMakeLists.txt
index 082b243ecda..ae1be815049 100644
--- a/src/rj_protos/CMakeLists.txt
+++ b/src/rj_protos/CMakeLists.txt
@@ -42,6 +42,12 @@ set(SIM_IMPORT_REWRITES
   "ssl_vision_geometry.proto" "vision/ssl_vision_geometry.proto"
 )
 
+if(NOT EXISTS ${SIM_PROTO_ROOT} OR NOT EXISTS ${GC_PROTO_ROOT})
+  message(FATAL_ERROR
+  "Proto submodule is missing. "
+  "From the repo root, run: make update-submodules")
+endif()
+
 foreach(proto ${SIM_PROTOS})
   file(READ ${SIM_PROTO_SRC}/${proto} content)
   set(rewrites ${SIM_IMPORT_REWRITES})
diff --git a/src/rj_protos/README.md b/src/rj_protos/README.md
index ddfde5d5f02..4f1fc510b98 100644
--- a/src/rj_protos/README.md
+++ b/src/rj_protos/README.md
@@ -16,7 +16,7 @@ Define the package's purpose and fixed architectural classification before work
 | Field | Details |
 | --- | --- |
 | **Plain-language purpose** | Contains protobuf files for  SSL-owned interfaces such as game controller and vision processor. |
-| **Current responsibilities** | Owns the protocol for recieving data from SSL-owned interfaces. |
+| **Current responsibilities** | Owns the protocol for receiving data from SSL-owned interfaces. |
 | **Out of scope** | Does not contain any logic behind how these messages are parsed or how the data is used. |
 
 ## 2. Dependency Rules
diff --git a/util/ubuntu-setup b/util/ubuntu-setup
index 5b6b5262735..6da95c265f1 100755
--- a/util/ubuntu-setup
+++ b/util/ubuntu-setup
@@ -167,7 +167,11 @@ apt-get install $ARGS $PACKAGES
 python3 -m pip install pip==22.1
 pip3 install -r $BASE/util/requirements3.txt
 
-# update submodules
+# update submodules as original user
 if ! $NO_SUBMODULES; then
-    make update-submodules
-fi
+    if [ -n "${SUDO_USER:-}" ]; then
+        sudo -u "$SUDO_USER" -- make -C "$BASE" update-submodules
+    else
+        make -C "$BASE" update-submodules
+    fi
+fi
\ No newline at end of file

From 5308013ef8be7db8f476758b307e595c4c083d66 Mon Sep 17 00:00:00 2001
From: Sanat Dhanyamraju <saisanat@gmail.com>
Date: Sun, 11 Oct 2026 17:08:55 -0400
Subject: [PATCH 21/21] i had the wrong directory

---
 src/rj_protos/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/rj_protos/CMakeLists.txt b/src/rj_protos/CMakeLists.txt
index ae1be815049..dc5b624502d 100644
--- a/src/rj_protos/CMakeLists.txt
+++ b/src/rj_protos/CMakeLists.txt
@@ -42,7 +42,7 @@ set(SIM_IMPORT_REWRITES
   "ssl_vision_geometry.proto" "vision/ssl_vision_geometry.proto"
 )
 
-if(NOT EXISTS ${SIM_PROTO_ROOT} OR NOT EXISTS ${GC_PROTO_ROOT})
+if(NOT EXISTS ${SIM_PROTO_SRC} OR NOT EXISTS ${GC_PROTO_ROOT})
   message(FATAL_ERROR
   "Proto submodule is missing. "
   "From the repo root, run: make update-submodules")