Code related to ConvertToRight function

[worry80]

When I wrote the AgentClient code, I noticed some problems with the ConvertToRight function. the players' direction is stored in radians, but when the Referee system converts the court data to the yellow team data, 180 is used as the Pi, which leads to the confusion of the angle.So I hope to replace 180 with Pi to solve this problem.

Below is the source code of this function.(Program.cs: 614)

private static FiraMessage.RefToCli.Environment ConvertToRight(FiraMessage.RefToCli.Environment cliEnvironment)
        {
            return new FiraMessage.RefToCli.Environment
            {
                FoulInfo = cliEnvironment.FoulInfo,
                Frame = new Frame
                {
                    Ball = new FiraMessage.Ball
                    {
                        X = -cliEnvironment.Frame.Ball.X,
                        Y = -cliEnvironment.Frame.Ball.Y
                    },
                    RobotsBlue =
                    {
                        cliEnvironment.Frame.RobotsBlue.Select((robot, i) => new FiraMessage.Robot
                        {
                            RobotId = robot.RobotId,
                            X = -robot.X,
                            Y = -robot.Y,
                            Orientation = robot.Orientation > 0 ? robot.Orientation - 180 : robot.Orientation + 180
                        })
                    },
                    RobotsYellow =
                    {
                        cliEnvironment.Frame.RobotsYellow.Select((robot, i) => new FiraMessage.Robot
                        {
                            RobotId = robot.RobotId,
                            X = -robot.X,
                            Y = -robot.Y,
                            Orientation = robot.Orientation > 0 ? robot.Orientation - 180 : robot.Orientation + 180
                        })
                    }
                }
            };
        }

[worry80]

I found the same situation in ConvertFromRight function, SecondHalfTransform function and MatchInfo2Packet function

[peng1999]

You are always welcome to create a PR directly. But because of the COVID-19 pandemic, it will take a little longer to merge.