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+# Engine Architecture Documentation
+
+This document provides a top-down overview of the engine. Each chapter corresponds to a folder inside `src/` and explains its role within the system.
+
+## Flow: Packet Reception to Robot Commands
+1. External packets from vision and referee sources are captured by modules in `receivers`.
+2. These packets are parsed and used to update the `world` state.
+3. Each frame, `MainApp` triggers `LuaInterface` scripts that read the world and issue motion requests using functions in `motion`.
+4. `Radio` packages these `RobotCommand` objects and transmits them to robots or the simulator.
+
+## 1. `assets`
+Contains application resources such as icons and Windows resource definitions (`engine_icon.ico`, `icon.rc`). These assets are compiled into the executable for branding and platform integration.
+
+## 2. `consolereader`
+Implements `ConsoleReader`, a `QThread` that monitors standard input for text commands. It understands commands like `run <script>`, `pause`, `resume`, `reload`, `record`, and `stoprecord`. Commands are forwarded to the `LuaInterface` to control script execution and emit recording signals consumed by `Logger`.
+
+## 3. `luainterface`
+Bridges Lua scripts with the C++ engine using `sol2`. It:
+- Initializes and manages a Lua state.
+- Registers numerous C++ functions for robot motion, ball interaction, telemetry retrieval, and simulator teleportation.
+- Loads and executes user scripts, exposing `process()` callbacks executed every frame.
+- Supports pausing, resuming, and error handling for scripts.
+
+## 4. `logger`
+Provides CSV logging of robot commands and states. When activated it writes a header followed by per-frame entries containing commanded velocities, actual poses, and ball state. Logging can be started and stopped via console commands.
+
+## 5. `motion`
+Motion planning and control algorithms:
+- `environment`: Builds obstacle and field representations used for collision checks.
+- `path_planner`: Computes obstacle-avoiding paths using a simple sub-goal strategy.
+- `bangbangcontrol`: Generates velocity profiles along paths with acceleration limits.
+- `pid`: Generic PID controller used for tracking and orientation control.
+- `motion`: High-level motion functions such as `move_to`, `move_direct`, `motion_with_orientation`, and orientation-facing helpers.
+
+## 6. `protobuf`
+Auto-generated Protocol Buffer classes for communicating with external components such as grSim, SSL-Vision, and the GameController. They define message formats for robot commands, referee data, simulation control and vision packets.
+
+## 7. `radio`
+Handles transmission of commands to robots or the grSim simulator. `Radio` stores pending `RobotCommand` objects, serializes them, and sends via serial port or directly to grSim. It also offers teleportation utilities for robots and the ball. Supporting files handle packet serialization and grSim communication.
+
+## 8. `receivers`
+Modules that receive and process external data sources:
+- `vision`: Listens to multicast UDP packets, decodes SSL-Vision frames, filters data with `Tracker`, and emits robot/ball updates.
+- `tracker`: Maintains per-robot extended Kalman filters (`kalman`) to estimate velocities and orientation.
+- `game_controller_ref` & `game_controller_team`: Clients for referee and team controllers, converting Protobuf messages to signals (`onRefCommand`) and handling registrations.
+- `game_state`: Stores the last referee command received and provides it to Lua scripts.
+
+## 9. `utilities`
+Fundamental data structures describing the simulation state and robot commands:
+- `RobotState` and `BallState` hold kinematic information.
+- `MotionCommand`, `KickerCommand`, and `RobotCommand` represent outbound control messages.
+- `StateChecker` offers small helpers for evaluating world conditions.
+
+## 10. `websocketserver`
+Provides a WebSocket endpoint on port 9001. It broadcasts world state as JSON and accepts messages for:
+- Running or pausing Lua scripts.
+- Direct joystick-style robot control, converting messages to `MotionCommand` and `KickerCommand` objects sent via `Radio`.
+
+## 11. `world`
+Central world model storing states for all robots and the ball. It receives updates from `Vision`, emits change signals, and serializes the complete scene to JSON for broadcasting. Each robot state tracks activity based on last update time.
+
+## 12. `main.cpp`
+`MainApp` orchestrates the system:
+- Loads settings from `config.ini`.
+- Initializes threads for vision, world update, referee client, and game state.
+- Wires signal/slot connections among modules.
+- Runs a 60 FPS loop that updates the world, executes Lua `process()` scripts, logs data, sends radio commands, and broadcasts state via WebSocket.
+