From 380962ea3635c4894dd2b2b545c224200e1d151e Mon Sep 17 00:00:00 2001
From: Nicolai Ommer <nicolai.ommer@gmail.com>
Date: Sun, 15 May 2022 14:38:32 +0200
Subject: [PATCH] Initial version of autoRef CI implementation

---
 .idea/runConfigurations/AutoReferee.xml       |   7 +-
 build.gradle                                  |   1 +
 config/moduli/moduli-ci.xml                   |  68 ++++++++
 .../edu/tigers/sumatra/ball/BallState.java    |   1 +
 modules/moduli-autoreferee-ci/build.gradle    |  27 +++
 .../ci/AutoRefereeCiCamModule.java            |  96 +++++++++++
 .../autoreferee/ci/AutoRefereeCiServer.java   | 161 ++++++++++++++++++
 .../TrackedFrameToFilteredVisionMapper.java   | 158 +++++++++++++++++
 .../src/main/proto/ssl_autoref_ci.proto       |  29 ++++
 .../proto/desired_event_description.proto     |   2 +-
 .../tigers/sumatra/cam/LogfileVisionCam.java  |   2 +-
 .../java/edu/tigers/sumatra/cam/ACam.java     |   4 +-
 .../sumatra/cam/CamDetectionConverter.java    |  14 +-
 .../tigers/sumatra/cam/ICamFrameObserver.java |   2 +-
 .../edu/tigers/sumatra/cam/SSLVisionCam.java  |   2 +-
 .../cam/SSLVisionCamGeometryTranslator.java   |  18 +-
 .../sumatra/cam/data/CamCalibration.java      |   2 +-
 .../tigers/sumatra/cam/data/CamFieldArc.java  |   2 +-
 .../tigers/sumatra/cam/data/CamFieldLine.java |   2 +-
 .../tigers/sumatra/cam/data/CamGeometry.java  |   2 +-
 ...ction.proto => ssl_vision_detection.proto} |   1 +
 ...ometry.proto => ssl_vision_geometry.proto} |   3 +-
 ...wrapper.proto => ssl_vision_wrapper.proto} |   5 +-
 .../edu/tigers/sumatra/geometry/Geometry.java |   6 +-
 .../src/main/proto/ssl_gc_api.proto           |   2 +-
 .../src/main/proto/ssl_gc_change.proto        |   2 +-
 .../src/main/proto/ssl_gc_common.proto        |   2 +-
 .../src/main/proto/ssl_gc_engine.proto        |   2 +-
 .../src/main/proto/ssl_gc_engine_config.proto |   2 +-
 .../src/main/proto/ssl_gc_game_event.proto    |   2 +-
 .../src/main/proto/ssl_gc_geometry.proto      |   2 +-
 .../src/main/proto/ssl_gc_rcon.proto          |   2 +-
 .../src/main/proto/ssl_gc_rcon_autoref.proto  |   4 +-
 .../proto/ssl_gc_rcon_remotecontrol.proto     |   4 +-
 .../src/main/proto/ssl_gc_rcon_team.proto     |   2 +-
 .../main/proto/ssl_gc_referee_message.proto   |   2 +-
 .../src/main/proto/ssl_gc_state.proto         |   4 +-
 .../tigers/sumatra/vision/AVisionFilter.java  |   2 +-
 .../sumatra/wp/exporter/SSLVisionSender.java  |  28 +--
 .../moduli-wp/src/main/proto/ssl_gc_ci.proto  |   6 +-
 .../proto/ssl_vision_detection_tracked.proto  |  18 +-
 .../sumatra/gamelog/SSLGameLogReader.java     |   2 +-
 .../sumatra/gamelog/SSLGameLogRecorder.java   |   2 +-
 .../src/main/proto/log_labeler_data.proto     |   5 +-
 .../src/main/proto/log_labels.proto           |   2 +-
 settings.gradle                               |   2 +
 .../java/edu/tigers/autoref/AutoReferee.java  |   8 +-
 47 files changed, 637 insertions(+), 85 deletions(-)
 create mode 100644 config/moduli/moduli-ci.xml
 create mode 100644 modules/moduli-autoreferee-ci/build.gradle
 create mode 100644 modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/AutoRefereeCiCamModule.java
 create mode 100644 modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/AutoRefereeCiServer.java
 create mode 100644 modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/TrackedFrameToFilteredVisionMapper.java
 create mode 100644 modules/moduli-autoreferee-ci/src/main/proto/ssl_autoref_ci.proto
 rename modules/moduli-cam/src/main/proto/{messages_robocup_ssl_detection.proto => ssl_vision_detection.proto} (99%)
 rename modules/moduli-cam/src/main/proto/{messages_robocup_ssl_geometry.proto => ssl_vision_geometry.proto} (99%)
 rename modules/moduli-cam/src/main/proto/{messages_robocup_ssl_wrapper.proto => ssl_vision_wrapper.proto} (67%)

diff --git a/.idea/runConfigurations/AutoReferee.xml b/.idea/runConfigurations/AutoReferee.xml
index 381c9b35..160eacb0 100644
--- a/.idea/runConfigurations/AutoReferee.xml
+++ b/.idea/runConfigurations/AutoReferee.xml
@@ -4,12 +4,15 @@
       <option name="executionName" />
       <option name="externalProjectPath" value="$PROJECT_DIR$" />
       <option name="externalSystemIdString" value="GRADLE" />
-      <option name="scriptParameters" value="run --args=&quot;-a&quot;" />
+      <option name="scriptParameters" value="" />
       <option name="taskDescriptions">
         <list />
       </option>
       <option name="taskNames">
-        <list />
+        <list>
+          <option value="run" />
+          <option value="--args=&quot;-c&quot;" />
+        </list>
       </option>
       <option name="vmOptions" value="" />
     </ExternalSystemSettings>
diff --git a/build.gradle b/build.gradle
index 1a41edf8..9749822e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -37,6 +37,7 @@ dependencies {
 
     implementation project(':moduli-record')
     implementation project(':moduli-autoreferee')
+    runtimeOnly project(':moduli-autoreferee-ci')
     runtimeOnly project(':moduli-wp')
     runtimeOnly project(':moduli-referee')
 
diff --git a/config/moduli/moduli-ci.xml b/config/moduli/moduli-ci.xml
new file mode 100644
index 00000000..3d0331c3
--- /dev/null
+++ b/config/moduli/moduli-ci.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<centralSoftware>
+
+    <!--
+    This configuration is copied to the AutoReferee when synchronizing source code. It must not be removed or renamed!
+    -->
+
+    <globalConfiguration>
+        <environment>ROBOCUP</environment>
+        <geometry>DIV_A</geometry>
+    </globalConfiguration>
+
+
+    <module id="edu.tigers.sumatra.cam.ACam">
+        <implementation>edu.tigers.autoreferee.ci.AutoRefereeCiCamModule</implementation>
+
+        <properties>
+            <port>10013</port>
+        </properties>
+    </module>
+
+
+    <module id="edu.tigers.sumatra.geometry.GeometryUpdater">
+        <dependency>edu.tigers.sumatra.cam.ACam</dependency>
+    </module>
+
+
+    <module id="edu.tigers.sumatra.vision.AVisionFilter">
+        <implementation>edu.tigers.sumatra.vision.VisionFilterImpl</implementation>
+
+        <dependency>edu.tigers.sumatra.referee.AReferee</dependency>
+        <dependency>edu.tigers.sumatra.cam.ACam</dependency>
+    </module>
+
+
+    <module id="edu.tigers.sumatra.wp.AWorldPredictor">
+        <implementation>edu.tigers.sumatra.wp.WorldInfoCollector</implementation>
+
+        <dependency>edu.tigers.sumatra.referee.AReferee</dependency>
+        <dependency>edu.tigers.sumatra.vision.AVisionFilter</dependency>
+        <dependency>edu.tigers.sumatra.persistence.RecordManager</dependency>
+        <dependency>edu.tigers.sumatra.cam.ACam</dependency>
+    </module>
+
+
+    <module id="edu.tigers.sumatra.referee.AReferee">
+        <implementation>edu.tigers.sumatra.referee.Referee</implementation>
+
+        <properties>
+            <source>INTERNAL_FORWARDER</source>
+        </properties>
+    </module>
+
+
+    <module id="edu.tigers.autoreferee.module.AutoRefModule">
+        <properties>
+            <gameControllerPort>10007</gameControllerPort>
+        </properties>
+
+        <dependency>edu.tigers.sumatra.wp.AWorldPredictor</dependency>
+    </module>
+
+
+    <module id="edu.tigers.sumatra.persistence.RecordManager">
+        <implementation>edu.tigers.autoreferee.AutoRefRecordManager</implementation>
+    </module>
+
+</centralSoftware>
diff --git a/modules/common/src/main/java/edu/tigers/sumatra/ball/BallState.java b/modules/common/src/main/java/edu/tigers/sumatra/ball/BallState.java
index df575c04..feb3f089 100644
--- a/modules/common/src/main/java/edu/tigers/sumatra/ball/BallState.java
+++ b/modules/common/src/main/java/edu/tigers/sumatra/ball/BallState.java
@@ -51,6 +51,7 @@ public class BallState implements IMirrorable<BallState>
 	/**
 	 * The spin of the ball in [rad/s], positive spin corresponds to positive linear velocity
 	 */
+	@NonNull
 	IVector2 spin;
 
 
diff --git a/modules/moduli-autoreferee-ci/build.gradle b/modules/moduli-autoreferee-ci/build.gradle
new file mode 100644
index 00000000..063cf7f2
--- /dev/null
+++ b/modules/moduli-autoreferee-ci/build.gradle
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
+ */
+
+plugins {
+    id 'sumatra.java'
+    id 'java-library'
+    id 'sumatra.protobuf'
+}
+
+dependencies {
+    implementation project(':common')
+    implementation project(':common-math')
+    implementation project(':sumatra-model')
+    implementation project(':moduli-wp')
+    implementation project(':moduli-vision')
+    implementation project(':moduli-geometry')
+    implementation project(':moduli-referee')
+    implementation project(':moduli-cam')
+
+    implementation 'com.github.TIGERs-Mannheim:moduli:4.1'
+
+    implementation 'org.apache.logging.log4j:log4j-api:2.17.1'
+    implementation 'commons-configuration:commons-configuration:1.10'
+
+    implementation 'com.google.protobuf:protobuf-java:3.19.4'
+}
diff --git a/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/AutoRefereeCiCamModule.java b/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/AutoRefereeCiCamModule.java
new file mode 100644
index 00000000..e334f992
--- /dev/null
+++ b/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/AutoRefereeCiCamModule.java
@@ -0,0 +1,96 @@
+/*
+ * Copyright (c) 2009 - 2022, DHBW Mannheim - TIGERs Mannheim
+ */
+
+package edu.tigers.autoreferee.ci;
+
+import edu.tigers.moduli.exceptions.StartModuleException;
+import edu.tigers.sumatra.cam.ACam;
+import edu.tigers.sumatra.cam.SSLVisionCamGeometryTranslator;
+import edu.tigers.sumatra.cam.data.CamGeometry;
+import edu.tigers.sumatra.cam.proto.SslVisionDetection;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry;
+import edu.tigers.sumatra.model.SumatraModel;
+import edu.tigers.sumatra.referee.AReferee;
+import edu.tigers.sumatra.referee.proto.SslGcRefereeMessage;
+import edu.tigers.sumatra.referee.source.DirectRefereeMsgForwarder;
+import edu.tigers.sumatra.referee.source.ERefereeMessageSource;
+import edu.tigers.sumatra.vision.AVisionFilter;
+import edu.tigers.sumatra.vision.data.FilteredVisionFrame;
+import edu.tigers.sumatra.wp.IWorldFrameObserver;
+import edu.tigers.sumatra.wp.TrackerPacketGenerator;
+import edu.tigers.sumatra.wp.WorldInfoCollector;
+import edu.tigers.sumatra.wp.data.WorldFrameWrapper;
+import edu.tigers.sumatra.wp.proto.SslVisionWrapperTracked;
+import edu.tigers.sumatra.wp.proto.SslVisionWrapperTracked.TrackerWrapperPacket;
+
+
+public class AutoRefereeCiCamModule extends ACam implements IWorldFrameObserver
+{
+	private final SSLVisionCamGeometryTranslator geometryTranslator = new SSLVisionCamGeometryTranslator();
+	private final TrackedFrameToFilteredVisionMapper trackedFrameToFilteredVisionMapper = new TrackedFrameToFilteredVisionMapper();
+	private final TrackerPacketGenerator trackerPacketGenerator = new TrackerPacketGenerator("TIGERs");
+	private final AutoRefereeCiServer autoRefereeCiServer = new AutoRefereeCiServer(
+			this::publishDetection,
+			this::publishGeometry,
+			this::publishReferee,
+			this::publishTrackedWrapperFrame
+	);
+
+	private DirectRefereeMsgForwarder refForwarder;
+
+
+	@Override
+	public void startModule() throws StartModuleException
+	{
+		super.startModule();
+		SumatraModel.getInstance().getModule(WorldInfoCollector.class).addObserver(this);
+		AReferee ref = SumatraModel.getInstance().getModule(AReferee.class);
+		refForwarder = (DirectRefereeMsgForwarder) ref.getSource(ERefereeMessageSource.INTERNAL_FORWARDER);
+		int port = getSubnodeConfiguration().getInt("port", 10013);
+		autoRefereeCiServer.setPort(port);
+		autoRefereeCiServer.start();
+	}
+
+
+	@Override
+	public void stopModule()
+	{
+		autoRefereeCiServer.stop();
+		super.stopModule();
+	}
+
+
+	@Override
+	public void onNewWorldFrame(final WorldFrameWrapper wfw)
+	{
+		SslVisionWrapperTracked.TrackerWrapperPacket packet = trackerPacketGenerator.generate(wfw.getSimpleWorldFrame());
+		autoRefereeCiServer.publish(packet);
+	}
+
+
+	private void publishReferee(SslGcRefereeMessage.Referee referee)
+	{
+		refForwarder.send(referee);
+	}
+
+
+	private void publishGeometry(SslVisionGeometry.SSL_GeometryData geometryData)
+	{
+		CamGeometry geometry = geometryTranslator.fromProtobuf(geometryData);
+		notifyNewCameraCalibration(geometry);
+	}
+
+
+	private void publishDetection(SslVisionDetection.SSL_DetectionFrame detectionFrame)
+	{
+		notifyNewCameraFrame(detectionFrame);
+	}
+
+
+	private void publishTrackedWrapperFrame(TrackerWrapperPacket wrapper)
+	{
+		FilteredVisionFrame filteredVisionFrame = trackedFrameToFilteredVisionMapper.map(wrapper.getTrackedFrame());
+		SumatraModel.getInstance().getModule(AVisionFilter.class).publishFilteredVisionFrame(filteredVisionFrame);
+	}
+}
diff --git a/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/AutoRefereeCiServer.java b/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/AutoRefereeCiServer.java
new file mode 100644
index 00000000..a2b91a96
--- /dev/null
+++ b/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/AutoRefereeCiServer.java
@@ -0,0 +1,161 @@
+/*
+ * Copyright (c) 2009 - 2022, DHBW Mannheim - TIGERs Mannheim
+ */
+
+package edu.tigers.autoreferee.ci;
+
+import edu.tigers.autoreferee.proto.SslAutorefCi.AutoRefCiInput;
+import edu.tigers.autoreferee.proto.SslAutorefCi.AutoRefCiOutput;
+import edu.tigers.sumatra.cam.proto.SslVisionDetection;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry;
+import edu.tigers.sumatra.referee.proto.SslGcRefereeMessage;
+import edu.tigers.sumatra.util.Safe;
+import edu.tigers.sumatra.wp.proto.SslVisionWrapperTracked;
+import lombok.RequiredArgsConstructor;
+import lombok.Setter;
+import lombok.extern.log4j.Log4j2;
+
+import java.io.IOException;
+import java.net.ServerSocket;
+import java.net.Socket;
+import java.util.function.Consumer;
+
+
+@Log4j2
+@RequiredArgsConstructor
+public class AutoRefereeCiServer
+{
+	private final Consumer<SslVisionDetection.SSL_DetectionFrame> detectionFrameConsumer;
+	private final Consumer<SslVisionGeometry.SSL_GeometryData> geometryDataConsumer;
+	private final Consumer<SslGcRefereeMessage.Referee> refereeConsumer;
+	private final Consumer<SslVisionWrapperTracked.TrackerWrapperPacket> trackerWrapperPacketConsumer;
+
+	@Setter
+	private int port;
+	private Thread thread;
+	private boolean running;
+	private ServerSocket serverSocket;
+	private Socket currentSocket;
+
+
+	public void start()
+	{
+		if (running)
+		{
+			throw new IllegalStateException("Server is already running");
+		}
+		running = true;
+		try
+		{
+			serverSocket = new ServerSocket(port);
+		} catch (IOException e)
+		{
+			log.error("Could not listen on port " + port, e);
+			return;
+		}
+		thread = new Thread(() -> Safe.run(this::listen));
+		thread.setName("AutoRef CI Server");
+		thread.start();
+	}
+
+
+	public void stop()
+	{
+		if (!running)
+		{
+			throw new IllegalStateException("Server is already stopped");
+		}
+		running = false;
+		try
+		{
+			serverSocket.close();
+		} catch (IOException e)
+		{
+			log.warn("Failed to close server socket", e);
+		}
+
+		thread.interrupt();
+		thread = null;
+		serverSocket = null;
+	}
+
+
+	public void publish(SslVisionWrapperTracked.TrackerWrapperPacket trackerWrapperPacket)
+	{
+		Socket socket = currentSocket;
+		if (socket == null)
+		{
+			return;
+		}
+
+		AutoRefCiOutput autoRefCiOutput = AutoRefCiOutput.newBuilder()
+				.setTrackerWrapperPacket(trackerWrapperPacket)
+				.build();
+		try
+		{
+			autoRefCiOutput.writeDelimitedTo(socket.getOutputStream());
+		} catch (IOException e)
+		{
+			log.warn("Failed to publish tracker wrapper packet", e);
+		}
+	}
+
+
+	private void listen()
+	{
+		while (running)
+		{
+			try
+			{
+				currentSocket = accept();
+				while (running)
+				{
+					if (!consume(currentSocket))
+					{
+						break;
+					}
+				}
+			} catch (IOException e)
+			{
+				log.warn("Connection failed", e);
+			}
+			currentSocket = null;
+		}
+	}
+
+
+	private boolean consume(Socket socket) throws IOException
+	{
+		if (socket == null)
+		{
+			return false;
+		}
+		AutoRefCiInput autoRefCiInput = AutoRefCiInput.parseDelimitedFrom(socket.getInputStream());
+		if (autoRefCiInput == null)
+		{
+			return false;
+		}
+		if (autoRefCiInput.hasGeometry())
+		{
+			geometryDataConsumer.accept(autoRefCiInput.getGeometry());
+		}
+		autoRefCiInput.getDetectionList().forEach(detectionFrameConsumer);
+		if (autoRefCiInput.hasRefereeMessage())
+		{
+			refereeConsumer.accept(autoRefCiInput.getRefereeMessage());
+		}
+		if (autoRefCiInput.hasTrackerWrapperPacket())
+		{
+			trackerWrapperPacketConsumer.accept(autoRefCiInput.getTrackerWrapperPacket());
+		}
+		return true;
+	}
+
+
+	private Socket accept() throws IOException
+	{
+		Socket socket = serverSocket.accept();
+		socket.setTcpNoDelay(true);
+		return socket;
+	}
+}
diff --git a/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/TrackedFrameToFilteredVisionMapper.java b/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/TrackedFrameToFilteredVisionMapper.java
new file mode 100644
index 00000000..646a5ce4
--- /dev/null
+++ b/modules/moduli-autoreferee-ci/src/main/java/edu/tigers/autoreferee/ci/TrackedFrameToFilteredVisionMapper.java
@@ -0,0 +1,158 @@
+/*
+ * Copyright (c) 2009 - 2022, DHBW Mannheim - TIGERs Mannheim
+ */
+
+package edu.tigers.autoreferee.ci;
+
+import edu.tigers.sumatra.ball.BallState;
+import edu.tigers.sumatra.drawable.ShapeMap;
+import edu.tigers.sumatra.geometry.Geometry;
+import edu.tigers.sumatra.ids.BotID;
+import edu.tigers.sumatra.ids.ETeamColor;
+import edu.tigers.sumatra.math.vector.IVector2;
+import edu.tigers.sumatra.math.vector.IVector3;
+import edu.tigers.sumatra.math.vector.Vector2;
+import edu.tigers.sumatra.math.vector.Vector3;
+import edu.tigers.sumatra.referee.proto.SslGcCommon;
+import edu.tigers.sumatra.referee.proto.SslGcGeometry;
+import edu.tigers.sumatra.vision.data.FilteredVisionBall;
+import edu.tigers.sumatra.vision.data.FilteredVisionBot;
+import edu.tigers.sumatra.vision.data.FilteredVisionFrame;
+import edu.tigers.sumatra.vision.data.FilteredVisionKick;
+import edu.tigers.sumatra.wp.proto.SslVisionDetectionTracked;
+
+import java.util.List;
+
+
+public class TrackedFrameToFilteredVisionMapper
+{
+	private long ballLastVisibleTimestamp;
+
+
+	public FilteredVisionFrame map(SslVisionDetectionTracked.TrackedFrame trackedFrame)
+	{
+		long timestamp = (long) (trackedFrame.getTimestamp() * 1e9);
+		return FilteredVisionFrame.builder()
+				.withId((long) trackedFrame.getFrameNumber())
+				.withTimestamp(timestamp)
+				.withBall(mapBalls(trackedFrame.getBallsList(), timestamp))
+				.withBots(mapRobots(trackedFrame.getRobotsList(), timestamp))
+				.withShapeMap(new ShapeMap())
+				.withKick(map(trackedFrame.getKickedBall()))
+				.build();
+	}
+
+
+	private FilteredVisionKick map(SslVisionDetectionTracked.KickedBall kickedBall)
+	{
+		long kickTimestamp = (long) (kickedBall.getStartTimestamp() * 1e9);
+		return FilteredVisionKick.builder()
+				.withKickTimestamp(kickTimestamp)
+				.withTrajectoryStartTime(kickTimestamp)
+				.withKickingBot(map(kickedBall.getRobotId()))
+				.withKickingBotPosition(map(kickedBall.getPos()))
+				.withKickingBotOrientation(map(kickedBall.getVel()).getXYVector().getAngle())
+				.withNumBallDetectionsSinceKick(100)
+				.withBallTrajectory(Geometry.getBallFactory().createTrajectoryFromState(BallState.builder()
+						.withPos(Vector3.from2d(map(kickedBall.getPos()), 0))
+						.withVel(map(kickedBall.getVel()))
+						.withAcc(Vector3.zero())
+						.withSpin(Vector2.zero())
+						.build()))
+				.build();
+	}
+
+
+	private List<FilteredVisionBot> mapRobots(List<SslVisionDetectionTracked.TrackedRobot> robots, long timestamp)
+	{
+		return robots.stream().map(robot -> map(robot, timestamp)).toList();
+	}
+
+
+	private FilteredVisionBot map(SslVisionDetectionTracked.TrackedRobot robot, long timestamp)
+	{
+		return FilteredVisionBot.builder()
+				.withBotID(map(robot.getRobotId()))
+				.withTimestamp(timestamp)
+				.withPos(map(robot.getPos()))
+				.withVel(map(robot.getVel()))
+				.withOrientation((double) robot.getOrientation())
+				.withAngularVel((double) robot.getVelAngular())
+				.withQuality(robot.getVisibility())
+				.build();
+	}
+
+
+	private BotID map(SslGcCommon.RobotId robotId)
+	{
+		if (robotId == null)
+		{
+			return BotID.noBot();
+		}
+		return BotID.createBotId(
+				robotId.getId(),
+				switch (robotId.getTeam())
+						{
+							case BLUE -> ETeamColor.BLUE;
+							case YELLOW -> ETeamColor.YELLOW;
+							default -> ETeamColor.NEUTRAL;
+						}
+		);
+	}
+
+
+	private FilteredVisionBall mapBalls(List<SslVisionDetectionTracked.TrackedBall> ballsList, long timestamp)
+	{
+		if (ballsList.isEmpty())
+		{
+			return FilteredVisionBall.builder()
+					.withTimestamp(timestamp)
+					.withLastVisibleTimestamp(ballLastVisibleTimestamp)
+					.withBallState(BallState.builder()
+							.withPos(Vector3.zero())
+							.withVel(Vector3.zero())
+							.withAcc(Vector3.zero())
+							.withSpin(Vector2.zero())
+							.build())
+					.build();
+		}
+		SslVisionDetectionTracked.TrackedBall ball = ballsList.get(0);
+		ballLastVisibleTimestamp = timestamp;
+		return FilteredVisionBall.builder()
+				.withTimestamp(timestamp)
+				.withLastVisibleTimestamp(ballLastVisibleTimestamp)
+				.withBallState(map(ball))
+				.build();
+	}
+
+
+	private BallState map(SslVisionDetectionTracked.TrackedBall ball)
+	{
+		return BallState.builder()
+				.withPos(map(ball.getPos()))
+				.withVel(map(ball.getVel()))
+				.withAcc(Vector3.zero())
+				.withSpin(Vector2.zero())
+				.build();
+	}
+
+
+	private IVector3 map(SslGcGeometry.Vector3 v)
+	{
+		if (v == null)
+		{
+			return Vector3.zero();
+		}
+		return Vector3.fromXYZ(v.getX(), v.getY(), v.getZ()).multiply(1000);
+	}
+
+
+	private IVector2 map(SslGcGeometry.Vector2 v)
+	{
+		if (v == null)
+		{
+			return Vector2.zero();
+		}
+		return Vector2.fromXY(v.getX(), v.getY()).multiply(1000);
+	}
+}
diff --git a/modules/moduli-autoreferee-ci/src/main/proto/ssl_autoref_ci.proto b/modules/moduli-autoreferee-ci/src/main/proto/ssl_autoref_ci.proto
new file mode 100644
index 00000000..219f0730
--- /dev/null
+++ b/modules/moduli-autoreferee-ci/src/main/proto/ssl_autoref_ci.proto
@@ -0,0 +1,29 @@
+syntax = "proto2";
+
+option java_package = "edu.tigers.autoreferee.proto";
+
+import "ssl_vision_wrapper_tracked.proto";
+import "ssl_vision_detection.proto";
+import "ssl_vision_geometry.proto";
+import "ssl_gc_referee_message.proto";
+
+// The AutoRefCiInput contains all packets/messages that would otherwise be received through multicast by the auto-referee
+// It may contain either a raw or a tracked SSL-vision packet. If both are given, the implementation may choose either one.
+message AutoRefCiInput {
+    // Latest referee message
+    optional Referee referee_message = 1;
+    // A tracked SSL-Vision packet to be processed without filtering
+    optional TrackerWrapperPacket tracker_wrapper_packet = 2;
+    // A list of unfiltered SSL-Vision packets (for multiple cameras) to be filtered and processed
+    repeated SSL_DetectionFrame detection = 3;
+    // Current geometry data, to be sent at least once at the beginning of the connection
+    optional SSL_GeometryData geometry = 4;
+}
+
+// The AutoRefCiOutput contains any new data created by the auto-referee for further processing
+message AutoRefCiOutput {
+    // A resulting tracked SSL-Vision packet for input into the ssl-game-controller.
+    // The auto-referee will either generate it from the unfiltered SSL-Vision packets
+    // or simply return the tracked packet from the input.
+    optional TrackerWrapperPacket tracker_wrapper_packet = 1;
+}
diff --git a/modules/moduli-autoreferee/src/main/proto/desired_event_description.proto b/modules/moduli-autoreferee/src/main/proto/desired_event_description.proto
index 0af25b66..d6e48714 100644
--- a/modules/moduli-autoreferee/src/main/proto/desired_event_description.proto
+++ b/modules/moduli-autoreferee/src/main/proto/desired_event_description.proto
@@ -9,7 +9,7 @@ message DesiredEvent {
     // to be equal to the ones produced by the autoref to test.
     // Since positions and similar scalar values will never exactly match,
     // an error tolerance threshold of around 0.5 meters can be applied
-    optional edu.tigers.sumatra.referee.proto.GameEvent expected_event = 1;
+    optional GameEvent expected_event = 1;
     // this stop_after_event is set to true, additional events may occur after
     // the desired event. If it is not set, or set to false, any additional event
     // should cause the testcase to fail
diff --git a/modules/moduli-cam-logfile/src/main/java/edu/tigers/sumatra/cam/LogfileVisionCam.java b/modules/moduli-cam-logfile/src/main/java/edu/tigers/sumatra/cam/LogfileVisionCam.java
index 824c6afc..15252876 100644
--- a/modules/moduli-cam-logfile/src/main/java/edu/tigers/sumatra/cam/LogfileVisionCam.java
+++ b/modules/moduli-cam-logfile/src/main/java/edu/tigers/sumatra/cam/LogfileVisionCam.java
@@ -6,7 +6,7 @@
 import com.github.g3force.configurable.ConfigRegistration;
 import edu.tigers.moduli.exceptions.ModuleNotFoundException;
 import edu.tigers.sumatra.cam.data.CamGeometry;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslWrapper.SSL_WrapperPacket;
+import edu.tigers.sumatra.cam.proto.SslVisionWrapper.SSL_WrapperPacket;
 import edu.tigers.sumatra.gamelog.SSLGameLogReader;
 import edu.tigers.sumatra.gamelog.SSLGameLogReader.SSLGameLogfileEntry;
 import edu.tigers.sumatra.model.SumatraModel;
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/ACam.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/ACam.java
index 197f38fa..be6c89c5 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/ACam.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/ACam.java
@@ -6,8 +6,8 @@
 import edu.tigers.moduli.AModule;
 import edu.tigers.sumatra.cam.data.CamDetectionFrame;
 import edu.tigers.sumatra.cam.data.CamGeometry;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslDetection.SSL_DetectionFrame;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslWrapper.SSL_WrapperPacket;
+import edu.tigers.sumatra.cam.proto.SslVisionDetection.SSL_DetectionFrame;
+import edu.tigers.sumatra.cam.proto.SslVisionWrapper.SSL_WrapperPacket;
 
 import java.util.List;
 import java.util.concurrent.CopyOnWriteArrayList;
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/CamDetectionConverter.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/CamDetectionConverter.java
index 7bb02be9..aaff9f88 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/CamDetectionConverter.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/CamDetectionConverter.java
@@ -7,7 +7,7 @@
 import edu.tigers.sumatra.cam.data.CamBall;
 import edu.tigers.sumatra.cam.data.CamDetectionFrame;
 import edu.tigers.sumatra.cam.data.CamRobot;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslDetection;
+import edu.tigers.sumatra.cam.proto.SslVisionDetection;
 import edu.tigers.sumatra.ids.BotID;
 import edu.tigers.sumatra.ids.ETeamColor;
 import edu.tigers.sumatra.math.vector.Vector2;
@@ -26,7 +26,7 @@ public class CamDetectionConverter
 
 
 	private static CamRobot convertRobot(
-			final MessagesRobocupSslDetection.SSL_DetectionRobot bot,
+			final SslVisionDetection.SSL_DetectionRobot bot,
 			final ETeamColor color,
 			final long frameId,
 			final int camId,
@@ -49,7 +49,7 @@ private static CamRobot convertRobot(
 	 * @param detectionFrame SSL vision frame from a single camera
 	 * @return a cam detection frame based on the SSL vision frame
 	 */
-	public CamDetectionFrame convertDetectionFrame(final MessagesRobocupSslDetection.SSL_DetectionFrame detectionFrame)
+	public CamDetectionFrame convertDetectionFrame(final SslVisionDetection.SSL_DetectionFrame detectionFrame)
 	{
 		long localCaptureNs = (long) (detectionFrame.getTCapture() * 1e9);
 		long localSentNs = (long) (detectionFrame.getTSent() * 1e9);
@@ -58,14 +58,14 @@ public CamDetectionFrame convertDetectionFrame(final MessagesRobocupSslDetection
 		final List<CamRobot> blues = new ArrayList<>();
 		final List<CamRobot> yellows = new ArrayList<>();
 
-		for (final MessagesRobocupSslDetection.SSL_DetectionRobot bot : detectionFrame.getRobotsBlueList())
+		for (final SslVisionDetection.SSL_DetectionRobot bot : detectionFrame.getRobotsBlueList())
 		{
 			blues.add(convertRobot(bot, ETeamColor.BLUE, frameId, detectionFrame.getCameraId(),
 					localCaptureNs));
 		}
 
 		// --- process team Yellow ---
-		for (final MessagesRobocupSslDetection.SSL_DetectionRobot bot : detectionFrame.getRobotsYellowList())
+		for (final SslVisionDetection.SSL_DetectionRobot bot : detectionFrame.getRobotsYellowList())
 		{
 			yellows.add(convertRobot(bot, ETeamColor.YELLOW, frameId,
 					detectionFrame.getCameraId(),
@@ -73,7 +73,7 @@ public CamDetectionFrame convertDetectionFrame(final MessagesRobocupSslDetection
 		}
 
 		// --- process ball ---
-		for (final MessagesRobocupSslDetection.SSL_DetectionBall ball : detectionFrame.getBallsList())
+		for (final SslVisionDetection.SSL_DetectionBall ball : detectionFrame.getBallsList())
 		{
 			balls.add(convertBall(ball, localCaptureNs, detectionFrame.getCameraId(),
 					frameId));
@@ -87,7 +87,7 @@ public CamDetectionFrame convertDetectionFrame(final MessagesRobocupSslDetection
 
 
 	private static CamBall convertBall(
-			final MessagesRobocupSslDetection.SSL_DetectionBall ball,
+			final SslVisionDetection.SSL_DetectionBall ball,
 			final long tCapture,
 			final int camId,
 			final long frameId)
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/ICamFrameObserver.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/ICamFrameObserver.java
index 42f722ba..98eff584 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/ICamFrameObserver.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/ICamFrameObserver.java
@@ -5,7 +5,7 @@
 
 import edu.tigers.sumatra.cam.data.CamDetectionFrame;
 import edu.tigers.sumatra.cam.data.CamGeometry;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslWrapper.SSL_WrapperPacket;
+import edu.tigers.sumatra.cam.proto.SslVisionWrapper.SSL_WrapperPacket;
 
 
 /**
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/SSLVisionCam.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/SSLVisionCam.java
index 1b53031f..47ac93cf 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/SSLVisionCam.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/SSLVisionCam.java
@@ -9,7 +9,7 @@
 import com.github.g3force.configurable.IConfigObserver;
 import edu.tigers.moduli.exceptions.InitModuleException;
 import edu.tigers.sumatra.cam.data.CamGeometry;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslWrapper.SSL_WrapperPacket;
+import edu.tigers.sumatra.cam.proto.SslVisionWrapper.SSL_WrapperPacket;
 import edu.tigers.sumatra.network.IReceiverObserver;
 import edu.tigers.sumatra.network.MulticastUDPReceiver;
 import edu.tigers.sumatra.network.NetworkUtility;
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/SSLVisionCamGeometryTranslator.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/SSLVisionCamGeometryTranslator.java
index c0d97edd..4781f241 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/SSLVisionCamGeometryTranslator.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/SSLVisionCamGeometryTranslator.java
@@ -8,14 +8,14 @@
 import edu.tigers.sumatra.cam.data.CamFieldLine;
 import edu.tigers.sumatra.cam.data.CamFieldSize;
 import edu.tigers.sumatra.cam.data.CamGeometry;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_FieldCircularArc;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_FieldLineSegment;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_FieldShapeType;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_GeometryCameraCalibration;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_GeometryData;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_GeometryFieldSize;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.Vector2f;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_FieldCircularArc;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_FieldLineSegment;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_FieldShapeType;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_GeometryCameraCalibration;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_GeometryData;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_GeometryFieldSize;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.Vector2f;
 import edu.tigers.sumatra.math.circle.Arc;
 import edu.tigers.sumatra.math.circle.IArc;
 import edu.tigers.sumatra.math.line.ILine;
@@ -278,7 +278,7 @@ private double uniqueLengthFromSegments(List<CamFieldLine> lines, Set<SSL_FieldS
 	private double centerCircleRadiusFromArcs(List<CamFieldArc> arcs)
 	{
 		return arcs.stream()
-				.filter(a -> a.getType() == MessagesRobocupSslGeometry.SSL_FieldShapeType.CenterCircle)
+				.filter(a -> a.getType() == SslVisionGeometry.SSL_FieldShapeType.CenterCircle)
 				.findFirst()
 				.map(camFieldArc -> camFieldArc.getArc().radius())
 				.orElse(DEFAULT_CENTER_CIRCLE_RADIUS);
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamCalibration.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamCalibration.java
index 36a2778f..81c97fe2 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamCalibration.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamCalibration.java
@@ -3,7 +3,7 @@
  */
 package edu.tigers.sumatra.cam.data;
 
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_GeometryCameraCalibration;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_GeometryCameraCalibration;
 import edu.tigers.sumatra.export.IJsonString;
 import edu.tigers.sumatra.math.SumatraMath;
 import edu.tigers.sumatra.math.vector.IVector2;
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamFieldArc.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamFieldArc.java
index d33da5e4..32984ceb 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamFieldArc.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamFieldArc.java
@@ -3,7 +3,7 @@
  */
 package edu.tigers.sumatra.cam.data;
 
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_FieldShapeType;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_FieldShapeType;
 import edu.tigers.sumatra.math.circle.IArc;
 import lombok.Value;
 
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamFieldLine.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamFieldLine.java
index 3add697a..494b10de 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamFieldLine.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamFieldLine.java
@@ -3,7 +3,7 @@
  */
 package edu.tigers.sumatra.cam.data;
 
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_FieldShapeType;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_FieldShapeType;
 import edu.tigers.sumatra.math.line.ILine;
 import lombok.Value;
 
diff --git a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamGeometry.java b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamGeometry.java
index a93f6caa..fd75dc49 100644
--- a/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamGeometry.java
+++ b/modules/moduli-cam/src/main/java/edu/tigers/sumatra/cam/data/CamGeometry.java
@@ -3,7 +3,7 @@
  */
 package edu.tigers.sumatra.cam.data;
 
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_GeometryModels;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_GeometryModels;
 import lombok.Builder;
 import lombok.Singular;
 import lombok.Value;
diff --git a/modules/moduli-cam/src/main/proto/messages_robocup_ssl_detection.proto b/modules/moduli-cam/src/main/proto/ssl_vision_detection.proto
similarity index 99%
rename from modules/moduli-cam/src/main/proto/messages_robocup_ssl_detection.proto
rename to modules/moduli-cam/src/main/proto/ssl_vision_detection.proto
index 07b4129d..ff6eeac4 100644
--- a/modules/moduli-cam/src/main/proto/messages_robocup_ssl_detection.proto
+++ b/modules/moduli-cam/src/main/proto/ssl_vision_detection.proto
@@ -1,4 +1,5 @@
 syntax = "proto2";
+
 option java_package = "edu.tigers.sumatra.cam.proto";
 
 message SSL_DetectionBall {
diff --git a/modules/moduli-cam/src/main/proto/messages_robocup_ssl_geometry.proto b/modules/moduli-cam/src/main/proto/ssl_vision_geometry.proto
similarity index 99%
rename from modules/moduli-cam/src/main/proto/messages_robocup_ssl_geometry.proto
rename to modules/moduli-cam/src/main/proto/ssl_vision_geometry.proto
index 0f9613af..89eedcd3 100644
--- a/modules/moduli-cam/src/main/proto/messages_robocup_ssl_geometry.proto
+++ b/modules/moduli-cam/src/main/proto/ssl_vision_geometry.proto
@@ -1,4 +1,5 @@
 syntax = "proto2";
+
 option java_package = "edu.tigers.sumatra.cam.proto";
 
 // A 2D float vector.
@@ -133,4 +134,4 @@ enum SSL_FieldShapeType {
   LeftFieldRightPenaltyStretch = 11;
   RightFieldLeftPenaltyStretch = 12;
   RightFieldRightPenaltyStretch = 13;
-}
\ No newline at end of file
+}
diff --git a/modules/moduli-cam/src/main/proto/messages_robocup_ssl_wrapper.proto b/modules/moduli-cam/src/main/proto/ssl_vision_wrapper.proto
similarity index 67%
rename from modules/moduli-cam/src/main/proto/messages_robocup_ssl_wrapper.proto
rename to modules/moduli-cam/src/main/proto/ssl_vision_wrapper.proto
index 45e15e34..3f4495f8 100644
--- a/modules/moduli-cam/src/main/proto/messages_robocup_ssl_wrapper.proto
+++ b/modules/moduli-cam/src/main/proto/ssl_vision_wrapper.proto
@@ -1,8 +1,9 @@
 syntax = "proto2";
+
 option java_package = "edu.tigers.sumatra.cam.proto";
 
-import "messages_robocup_ssl_detection.proto";
-import "messages_robocup_ssl_geometry.proto";
+import "ssl_vision_detection.proto";
+import "ssl_vision_geometry.proto";
 
 message SSL_WrapperPacket {
   optional SSL_DetectionFrame detection = 1;
diff --git a/modules/moduli-geometry/src/main/java/edu/tigers/sumatra/geometry/Geometry.java b/modules/moduli-geometry/src/main/java/edu/tigers/sumatra/geometry/Geometry.java
index 7eb8e8ef..3380ecd7 100644
--- a/modules/moduli-geometry/src/main/java/edu/tigers/sumatra/geometry/Geometry.java
+++ b/modules/moduli-geometry/src/main/java/edu/tigers/sumatra/geometry/Geometry.java
@@ -11,7 +11,7 @@
 import edu.tigers.sumatra.cam.SSLVisionCamGeometryTranslator;
 import edu.tigers.sumatra.cam.data.CamFieldSize;
 import edu.tigers.sumatra.cam.data.CamGeometry;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry;
 import edu.tigers.sumatra.ids.ETeamColor;
 import edu.tigers.sumatra.math.circle.Circle;
 import edu.tigers.sumatra.math.circle.ICircle;
@@ -206,8 +206,8 @@ private static CamGeometry readGeometryFromFile(String id) throws IOException
 	{
 		Path path = CONFIG_PATH.resolve(id + ".txt");
 		byte[] bytes = Files.readAllBytes(path);
-		MessagesRobocupSslGeometry.SSL_GeometryData data = TextFormat.parse(new String(bytes),
-				MessagesRobocupSslGeometry.SSL_GeometryData.class);
+		SslVisionGeometry.SSL_GeometryData data = TextFormat.parse(new String(bytes),
+				SslVisionGeometry.SSL_GeometryData.class);
 		SSLVisionCamGeometryTranslator translator = new SSLVisionCamGeometryTranslator();
 		return translator.fromProtobuf(data);
 	}
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_api.proto b/modules/moduli-referee/src/main/proto/ssl_gc_api.proto
index d58e5cf0..59d98178 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_api.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_api.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/api";
 
 import "ssl_gc_state.proto";
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_change.proto b/modules/moduli-referee/src/main/proto/ssl_gc_change.proto
index cfb98670..d3d28be6 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_change.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_change.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/statemachine";
 
 import "ssl_gc_state.proto";
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_common.proto b/modules/moduli-referee/src/main/proto/ssl_gc_common.proto
index 08c696b0..d104b421 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_common.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_common.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
 
 // Team is either blue or yellow
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_engine.proto b/modules/moduli-referee/src/main/proto/ssl_gc_engine.proto
index 55c2d164..54346589 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_engine.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_engine.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine";
 
 import "ssl_gc_geometry.proto";
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_engine_config.proto b/modules/moduli-referee/src/main/proto/ssl_gc_engine_config.proto
index 4faa5e3d..c1486887 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_engine_config.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_engine_config.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/engine";
 
 message Config {
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_game_event.proto b/modules/moduli-referee/src/main/proto/ssl_gc_game_event.proto
index 922f737a..c89d8c33 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_game_event.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_game_event.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
 
 import "ssl_gc_common.proto";
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_geometry.proto b/modules/moduli-referee/src/main/proto/ssl_gc_geometry.proto
index 030a9e2b..c3dbf866 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_geometry.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_geometry.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom";
 
 // A vector with two dimensions
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_rcon.proto b/modules/moduli-referee/src/main/proto/ssl_gc_rcon.proto
index 55bd9d89..745d40d8 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_rcon.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_rcon.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/rcon";
 
 // a reply that is sent by the controller for each request from teams or autoRefs
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_rcon_autoref.proto b/modules/moduli-referee/src/main/proto/ssl_gc_rcon_autoref.proto
index 9c38fcdf..b8245f31 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_rcon_autoref.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_rcon_autoref.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/rcon";
 
 import "ssl_gc_game_event.proto";
@@ -30,4 +30,4 @@ message ControllerToAutoRef {
         // a reply from the controller
         ControllerReply controller_reply = 1;
     }
-}
\ No newline at end of file
+}
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_rcon_remotecontrol.proto b/modules/moduli-referee/src/main/proto/ssl_gc_rcon_remotecontrol.proto
index 7ac426ed..b46073ad 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_rcon_remotecontrol.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_rcon_remotecontrol.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/rcon";
 
 import "ssl_gc_common.proto";
@@ -73,4 +73,4 @@ message ControllerToRemoteControl {
 
     // true, if challenge flag pending
     optional bool challenge_flag = 7;
-}
\ No newline at end of file
+}
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_rcon_team.proto b/modules/moduli-referee/src/main/proto/ssl_gc_rcon_team.proto
index 61a138ab..95e0fd76 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_rcon_team.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_rcon_team.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/rcon";
 
 import "ssl_gc_rcon.proto";
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_referee_message.proto b/modules/moduli-referee/src/main/proto/ssl_gc_referee_message.proto
index 8d51f061..04698673 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_referee_message.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_referee_message.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
 
 import "ssl_gc_game_event.proto";
diff --git a/modules/moduli-referee/src/main/proto/ssl_gc_state.proto b/modules/moduli-referee/src/main/proto/ssl_gc_state.proto
index bf4a91a1..7ad56bda 100644
--- a/modules/moduli-referee/src/main/proto/ssl_gc_state.proto
+++ b/modules/moduli-referee/src/main/proto/ssl_gc_state.proto
@@ -1,6 +1,6 @@
 syntax = "proto2";
 
-package edu.tigers.sumatra.referee.proto;
+option java_package = "edu.tigers.sumatra.referee.proto";
 option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/state";
 
 import "ssl_gc_common.proto";
@@ -114,4 +114,4 @@ message State {
     optional Division division = 15;
     optional bool auto_continue = 16;
     optional Team first_kickoff_team = 17;
-}
\ No newline at end of file
+}
diff --git a/modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/AVisionFilter.java b/modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/AVisionFilter.java
index ec7554a4..d5e5dbc7 100644
--- a/modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/AVisionFilter.java
+++ b/modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/AVisionFilter.java
@@ -83,7 +83,7 @@ protected void stop()
 	 *
 	 * @param filteredVisionFrame the filtered and complete vision frame
 	 */
-	protected final void publishFilteredVisionFrame(final FilteredVisionFrame filteredVisionFrame)
+	public final void publishFilteredVisionFrame(final FilteredVisionFrame filteredVisionFrame)
 	{
 		Safe.forEach(observers, o -> o.onNewFilteredVisionFrame(filteredVisionFrame));
 	}
diff --git a/modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/exporter/SSLVisionSender.java b/modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/exporter/SSLVisionSender.java
index e5ef0000..ad32378f 100644
--- a/modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/exporter/SSLVisionSender.java
+++ b/modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/exporter/SSLVisionSender.java
@@ -5,16 +5,16 @@
 package edu.tigers.sumatra.wp.exporter;
 
 import edu.tigers.moduli.AModule;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslDetection;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslDetection.SSL_DetectionBall;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslDetection.SSL_DetectionFrame;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_FieldCircularArc;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_FieldLineSegment;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_GeometryData;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.SSL_GeometryFieldSize;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslGeometry.Vector2f;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslWrapper.SSL_WrapperPacket;
+import edu.tigers.sumatra.cam.proto.SslVisionDetection;
+import edu.tigers.sumatra.cam.proto.SslVisionDetection.SSL_DetectionBall;
+import edu.tigers.sumatra.cam.proto.SslVisionDetection.SSL_DetectionFrame;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_FieldCircularArc;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_FieldLineSegment;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_GeometryData;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.SSL_GeometryFieldSize;
+import edu.tigers.sumatra.cam.proto.SslVisionGeometry.Vector2f;
+import edu.tigers.sumatra.cam.proto.SslVisionWrapper.SSL_WrapperPacket;
 import edu.tigers.sumatra.geometry.Geometry;
 import edu.tigers.sumatra.ids.ETeamColor;
 import edu.tigers.sumatra.math.AngleMath;
@@ -96,7 +96,7 @@ public void onNewWorldFrame(final WorldFrameWrapper wFrameWrapper)
 
 		for (ITrackedBot bot : wFrameWrapper.getSimpleWorldFrame().getBots().values())
 		{
-			MessagesRobocupSslDetection.SSL_DetectionRobot.Builder sslBot = MessagesRobocupSslDetection.SSL_DetectionRobot
+			SslVisionDetection.SSL_DetectionRobot.Builder sslBot = SslVisionDetection.SSL_DetectionRobot
 					.newBuilder();
 			sslBot.setConfidence(1);
 			sslBot.setRobotId(bot.getBotId().getNumber());
@@ -197,13 +197,13 @@ private SSL_GeometryData.Builder createGeometryMessage()
 
 		geometry.setField(field);
 
-		geometry.setModels(MessagesRobocupSslGeometry.SSL_GeometryModels.newBuilder()
-				.setStraightTwoPhase(MessagesRobocupSslGeometry.SSL_BallModelStraightTwoPhase.newBuilder()
+		geometry.setModels(SslVisionGeometry.SSL_GeometryModels.newBuilder()
+				.setStraightTwoPhase(SslVisionGeometry.SSL_BallModelStraightTwoPhase.newBuilder()
 						.setAccSlide(Geometry.getBallParameters().getAccSlide())
 						.setAccRoll(Geometry.getBallParameters().getAccRoll())
 						.setKSwitch(Geometry.getBallParameters().getKSwitch())
 						.build())
-				.setChipFixedLoss(MessagesRobocupSslGeometry.SSL_BallModelChipFixedLoss.newBuilder()
+				.setChipFixedLoss(SslVisionGeometry.SSL_BallModelChipFixedLoss.newBuilder()
 						.setDampingXyFirstHop(Geometry.getBallParameters().getChipDampingXYFirstHop())
 						.setDampingXyOtherHops(Geometry.getBallParameters().getChipDampingXYOtherHops())
 						.setDampingZ(Geometry.getBallParameters().getChipDampingZ())
diff --git a/modules/moduli-wp/src/main/proto/ssl_gc_ci.proto b/modules/moduli-wp/src/main/proto/ssl_gc_ci.proto
index 2c897a18..731a17ae 100644
--- a/modules/moduli-wp/src/main/proto/ssl_gc_ci.proto
+++ b/modules/moduli-wp/src/main/proto/ssl_gc_ci.proto
@@ -6,7 +6,7 @@ option go_package = "github.com/RoboCup-SSL/ssl-game-controller/internal/app/ci"
 import "ssl_vision_wrapper_tracked.proto";
 import "ssl_gc_api.proto";
 import "ssl_gc_referee_message.proto";
-import "messages_robocup_ssl_geometry.proto";
+import "ssl_vision_geometry.proto";
 
 // The input format to the GC
 message CiInput {
@@ -15,7 +15,7 @@ message CiInput {
     // New tracker packet with ball and robot data
     optional TrackerWrapperPacket tracker_packet = 2;
     // (UI) API input
-    repeated edu.tigers.sumatra.referee.proto.Input api_inputs = 3;
+    repeated Input api_inputs = 3;
     // Update geometry
     optional SSL_GeometryData geometry = 4;
 }
@@ -23,5 +23,5 @@ message CiInput {
 // The output format of the GC response
 message CiOutput {
     // Latest referee message
-    optional edu.tigers.sumatra.referee.proto.Referee referee_msg = 1;
+    optional Referee referee_msg = 1;
 }
diff --git a/modules/moduli-wp/src/main/proto/ssl_vision_detection_tracked.proto b/modules/moduli-wp/src/main/proto/ssl_vision_detection_tracked.proto
index d0742fd9..fc30af55 100644
--- a/modules/moduli-wp/src/main/proto/ssl_vision_detection_tracked.proto
+++ b/modules/moduli-wp/src/main/proto/ssl_vision_detection_tracked.proto
@@ -19,10 +19,10 @@ enum Capability {
 // A single tracked ball
 message TrackedBall {
     // The position (x, y, height) [m] in the ssl-vision coordinate system
-    required edu.tigers.sumatra.referee.proto.Vector3 pos = 1;
+    required Vector3 pos = 1;
 
     // The velocity [m/s] in the ssl-vision coordinate system
-    optional edu.tigers.sumatra.referee.proto.Vector3 vel = 2;
+    optional Vector3 vel = 2;
 
     // The visibility of the ball
     // A value between 0 (not visible) and 1 (visible)
@@ -33,32 +33,32 @@ message TrackedBall {
 // A ball kicked by a robot, including predictions when the ball will come to a stop
 message KickedBall {
     // The initial position [m] from which the ball was kicked
-    required edu.tigers.sumatra.referee.proto.Vector2 pos = 1;
+    required Vector2 pos = 1;
     // The initial velocity [m/s] with which the ball was kicked
-    required edu.tigers.sumatra.referee.proto.Vector3 vel = 2;
+    required Vector3 vel = 2;
     // The unix timestamp [s] when the kick was performed
     required double start_timestamp = 3;
 
     // The predicted unix timestamp [s] when the ball comes to a stop
     optional double stop_timestamp = 4;
     // The predicted position [m] at which the ball will come to a stop
-    optional edu.tigers.sumatra.referee.proto.Vector2 stop_pos = 5;
+    optional Vector2 stop_pos = 5;
 
     // The robot that kicked the ball
-    optional edu.tigers.sumatra.referee.proto.RobotId robot_id = 6;
+    optional RobotId robot_id = 6;
 }
 
 // A single tracked robot
 message TrackedRobot {
-    required edu.tigers.sumatra.referee.proto.RobotId robot_id = 1;
+    required RobotId robot_id = 1;
 
     // The position [m] in the ssl-vision coordinate system
-    required edu.tigers.sumatra.referee.proto.Vector2 pos = 2;
+    required Vector2 pos = 2;
     // The orientation [rad] in the ssl-vision coordinate system
     required float orientation = 3;
 
     // The velocity [m/s] in the ssl-vision coordinate system
-    optional edu.tigers.sumatra.referee.proto.Vector2 vel = 4;
+    optional Vector2 vel = 4;
     // The angular velocity [rad/s] in the ssl-vision coordinate system
     optional float vel_angular = 5;
 
diff --git a/modules/sumatra-gamelog/src/main/java/edu/tigers/sumatra/gamelog/SSLGameLogReader.java b/modules/sumatra-gamelog/src/main/java/edu/tigers/sumatra/gamelog/SSLGameLogReader.java
index 0b78be17..9b51176e 100644
--- a/modules/sumatra-gamelog/src/main/java/edu/tigers/sumatra/gamelog/SSLGameLogReader.java
+++ b/modules/sumatra-gamelog/src/main/java/edu/tigers/sumatra/gamelog/SSLGameLogReader.java
@@ -5,7 +5,7 @@
 
 import com.google.common.primitives.Bytes;
 import com.google.protobuf.AbstractMessage;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslWrapper.SSL_WrapperPacket;
+import edu.tigers.sumatra.cam.proto.SslVisionWrapper.SSL_WrapperPacket;
 import edu.tigers.sumatra.gamelog.proto.LogLabelerData;
 import edu.tigers.sumatra.referee.proto.SslGcRefereeMessage.Referee;
 import org.apache.logging.log4j.LogManager;
diff --git a/modules/sumatra-gamelog/src/main/java/edu/tigers/sumatra/gamelog/SSLGameLogRecorder.java b/modules/sumatra-gamelog/src/main/java/edu/tigers/sumatra/gamelog/SSLGameLogRecorder.java
index d4987bd0..413abf75 100644
--- a/modules/sumatra-gamelog/src/main/java/edu/tigers/sumatra/gamelog/SSLGameLogRecorder.java
+++ b/modules/sumatra-gamelog/src/main/java/edu/tigers/sumatra/gamelog/SSLGameLogRecorder.java
@@ -6,7 +6,7 @@
 import edu.tigers.moduli.exceptions.ModuleNotFoundException;
 import edu.tigers.sumatra.cam.ACam;
 import edu.tigers.sumatra.cam.ICamFrameObserver;
-import edu.tigers.sumatra.cam.proto.MessagesRobocupSslWrapper.SSL_WrapperPacket;
+import edu.tigers.sumatra.cam.proto.SslVisionWrapper.SSL_WrapperPacket;
 import edu.tigers.sumatra.model.SumatraModel;
 import edu.tigers.sumatra.referee.AReferee;
 import edu.tigers.sumatra.referee.IRefereeObserver;
diff --git a/modules/sumatra-gamelog/src/main/proto/log_labeler_data.proto b/modules/sumatra-gamelog/src/main/proto/log_labeler_data.proto
index 7f280e51..63a9b164 100644
--- a/modules/sumatra-gamelog/src/main/proto/log_labeler_data.proto
+++ b/modules/sumatra-gamelog/src/main/proto/log_labeler_data.proto
@@ -1,7 +1,8 @@
 syntax = "proto3";
+
 option java_package = "edu.tigers.sumatra.gamelog.proto";
 
-import "messages_robocup_ssl_wrapper.proto";
+import "ssl_vision_wrapper.proto";
 import "ssl_gc_referee_message.proto";
 
 message LabelerMetadata {
@@ -15,7 +16,7 @@ message LabelerFrame {
   uint64 timestamp = 1;
   oneof frame {
     SSL_WrapperPacket vision_frame = 2;
-    edu.tigers.sumatra.referee.proto.Referee referee_frame = 3;
+    Referee referee_frame = 3;
   }
 }
 
diff --git a/modules/sumatra-gamelog/src/main/proto/log_labels.proto b/modules/sumatra-gamelog/src/main/proto/log_labels.proto
index 61cdf9e7..9edfd59e 100644
--- a/modules/sumatra-gamelog/src/main/proto/log_labels.proto
+++ b/modules/sumatra-gamelog/src/main/proto/log_labels.proto
@@ -46,4 +46,4 @@ message Labels {
   repeated BallPossessionLabel ball_possession_labels = 2;
   repeated PassingLabel passing_labels = 3;
   repeated GoalShotLabel goal_shot_labels = 4;
-}
\ No newline at end of file
+}
diff --git a/settings.gradle b/settings.gradle
index d728479b..ed7bdd5d 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -11,6 +11,7 @@ include(':common-gui')
 include(':common-gui-config')
 include(':common-math')
 include(':moduli-autoreferee')
+include(':moduli-autoreferee-ci')
 include(':moduli-cam')
 include(':moduli-cam-logfile')
 include(':moduli-geometry')
@@ -33,6 +34,7 @@ project(':common-gui').projectDir = file('modules/common-gui')
 project(':common-gui-config').projectDir = file('modules/common-gui-config')
 project(':common-math').projectDir = file('modules/common-math')
 project(':moduli-autoreferee').projectDir = file('modules/moduli-autoreferee')
+project(':moduli-autoreferee-ci').projectDir = file('modules/moduli-autoreferee-ci')
 project(':moduli-cam').projectDir = file('modules/moduli-cam')
 project(':moduli-cam-logfile').projectDir = file('modules/moduli-cam-logfile')
 project(':moduli-geometry').projectDir = file('modules/moduli-geometry')
diff --git a/src/main/java/edu/tigers/autoref/AutoReferee.java b/src/main/java/edu/tigers/autoref/AutoReferee.java
index 13571721..a66696db 100644
--- a/src/main/java/edu/tigers/autoref/AutoReferee.java
+++ b/src/main/java/edu/tigers/autoref/AutoReferee.java
@@ -39,9 +39,9 @@ public static void main(final String[] args)
 
 		ifHasOption("h", () -> printHelp(options));
 		ifNotHasOption("hl", () -> SwingUtilities.invokeLater(AutoReferee::startUi));
-		  
+
 		start();
-		
+
 		ifHasOption("a", AutoReferee::activateAutoRef);
 	}
 
@@ -83,6 +83,7 @@ private static Options createOptions()
 		options.addOption("hl", "headless", false, "run without a UI");
 		options.addOption("a", "active", false, "Start autoRef in active mode");
 		options.addOption("w", "window", true, "Set window size (example: 1920x1080)");
+		options.addOption("c", "ci", false, "Enable CI mode");
 		return options;
 	}
 
@@ -117,7 +118,8 @@ private static void activateAutoRef()
 
 	private static void start()
 	{
-		SumatraModel.getInstance().setCurrentModuliConfig("moduli.xml");
+		String config = cmd.hasOption("c") ? "moduli-ci.xml" : "moduli.xml";
+		SumatraModel.getInstance().setCurrentModuliConfig(config);
 		try
 		{
 			SumatraModel.getInstance().loadModulesOfConfigSafe(SumatraModel.getInstance().getCurrentModuliConfig());