[test,bugfix] Test kick timeout and no progress in game

Author: g3force

internal/app/controller/controller.go

@@ -50,7 +50,7 @@ func NewGameController() (c *GameController) {
 	c.TeamServer.LoadTrustedKeys(c.Config.Server.Team.TrustedKeysDir)
 	c.TeamServer.ProcessTeamRequest = c.ProcessTeamRequests
 
-	c.Engine = NewEngine(c.Config.Game)
+	c.Engine = NewEngine(c.Config.Game, time.Now().Unix())
 	c.timer = timer.NewTimer()
 
 	c.setupTimeProvider()

internal/app/controller/engine.go

@@ -5,6 +5,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-game-controller/pkg/refproto"
 	"github.com/pkg/errors"
 	"log"
+	"math/rand"
 	"strconv"
 	"strings"
 	"time"
@@ -18,13 +19,15 @@ type Engine struct {
 	TimeProvider func() time.Time
 	History      History
 	Geometry     config.Geometry
+	Rand         *rand.Rand
 }
 
-func NewEngine(config config.Game) (e Engine) {
+func NewEngine(config config.Game, seed int64) (e Engine) {
 	e.config = config
 	e.loadStages()
 	e.ResetGame()
 	e.TimeProvider = func() time.Time { return time.Now() }
+	e.Rand = rand.New(rand.NewSource(seed))
 	return
 }
 
@@ -223,7 +226,8 @@ func (e *Engine) CommandForEvent(event *GameEvent) (command RefCommand, forTeam
 			err = errors.Errorf("Unhandled game event: %v", e.State.GameEvents)
 		}
 
-		if e.State.Division == config.DivA && // For division A
+		if forTeam.Known() &&
+			e.State.Division == config.DivA && // For division A
 			!e.State.TeamState[forTeam].CanPlaceBall && // If team in favor can not place the ball
 			e.State.TeamState[forTeam.Opposite()].CanPlaceBall && // If opponent team can place the ball
 			primaryGameEvent.Type.resultsFromBallLeavingField() { // event is caused by the ball leaving the field
@@ -241,6 +245,13 @@ func (e *Engine) CommandForEvent(event *GameEvent) (command RefCommand, forTeam
 	return
 }
 
+func (e *Engine) randomTeam() Team {
+	if e.Rand.Intn(2) == 0 {
+		return TeamYellow
+	}
+	return TeamBlue
+}
+
 func (g GameEventType) resultsFromBallLeavingField() bool {
 	switch g {
 	case
@@ -661,7 +672,13 @@ func (e *Engine) processGameEvent(event *GameEvent) error {
 
 func (e *Engine) placeBall(event *GameEvent) {
 	teamInFavor := event.ByTeam().Opposite()
-	if e.State.PlacementPos == nil || teamInFavor.Unknown() || e.State.noTeamCanPlaceBall() {
+
+	if teamInFavor.Unknown() {
+		// select a team by 50% chance
+		teamInFavor = e.randomTeam()
+	}
+
+	if e.State.PlacementPos == nil || e.State.noTeamCanPlaceBall() {
 		// placement not possible, human ref must help out
 		e.SendCommand(CommandHalt, "")
 		return

internal/app/controller/engine_test.go

@@ -99,7 +99,7 @@ func processTransitionFile(t *testing.T, fileName string) {
 		cfg.DefaultDivision = *stateTransitions.InitialState.Division
 	}
 
-	e := NewEngine(cfg)
+	e := NewEngine(cfg, 0)
 	initialTime := initialTime()
 	elapsedTime := time.Duration(0)
 	e.TimeProvider = func() time.Time {

internal/app/controller/placementPos.go

@@ -92,7 +92,7 @@ func (e *Engine) BallPlacementPos() *Location {
 	case GameEventKeeperHeldBall:
 		return e.validateProtoLocation(event.Details.KeeperHeldBall.Location)
 	case GameEventKickTimeout:
-		return e.validateLocation(e.State.PlacementPos)
+		return e.validateProtoLocation(event.Details.KickTimeout.Location)
 	case GameEventNoProgressInGame:
 		return e.validateProtoLocation(event.Details.NoProgressInGame.Location)
 	case GameEventPlacementFailed:

internal/app/controller/placementPos_test.go

@@ -9,7 +9,7 @@ import (
 
 func TestEngine_BallPlacementPos(t *testing.T) {
 	cfg := config.DefaultControllerConfig().Game
-	engine := NewEngine(cfg)
+	engine := NewEngine(cfg, 0)
 	engine.State.TeamState[TeamYellow].OnPositiveHalf = true
 	engine.State.TeamState[TeamBlue].OnPositiveHalf = false
 	engine.Geometry.PlacementOffsetTouchLine = 0.2

internal/app/controller/testdata/engine_test_command_kickoff.yaml

@@ -20,14 +20,14 @@ transitions:
       command:
         type: normalStart
     expectedStateDiff:
-      stage: First Half
-      stageTimeLeft: 300000000000
       command: normalStart
       commandFor: ""
       nextCommand: ""
+      stage: First Half
+      stageTimeLeft: 5m
       matchTimeStart: "2010-01-01T00:00:00Z"
       currentActionDeadline: "2010-01-01T00:00:10Z"
-      currentActionTimeRemaining: 10000000000
+      currentActionTimeRemaining: 10s
   - event:
       command:
         type: stop

internal/app/controller/testdata/engine_test_gameevent_kick_timeout.yaml

@@ -0,0 +1,35 @@
+initialState:
+  stage: First Half
+  command: direct
+  commandFor: Yellow
+  division: DivA
+transitions:
+  - event:
+      gameEvent:
+        type: kickTimeout
+        details:
+          kicktimeout:
+            byteam: 1 # Yellow
+            time: 10.0
+            location:
+              x: 1.0
+              y: 2.0
+    expectedStateDiff:
+      command: ballPlacement
+      commandFor: Blue
+      nextCommand: indirect
+      nextCommandFor: Blue
+      placementPos:
+        x: 1.0
+        y: 2.0
+      currentActionDeadline: "2010-01-01T00:00:30Z"
+      currentActionTimeRemaining: 30s
+      gameEvents:
+        - type: kickTimeout
+          details:
+            kicktimeout:
+              byteam: 1 # Yellow
+              time: 10.0
+              location:
+                x: 1.0
+                y: 2.0

internal/app/controller/testdata/engine_test_gameevent_kickoff.yaml

@@ -0,0 +1,40 @@
+initialState:
+  stage: Pre-First Half
+  command: halt
+  division: DivA
+transitions:
+  - event:
+      command:
+        type: stop
+    expectedStateDiff:
+      command: stop
+  - tick: 1s # make sure that the stage time is not proceeded
+  - event:
+      command:
+        type: kickoff
+        forTeam: Blue
+    expectedStateDiff:
+      command: kickoff
+      commandFor: Blue
+      nextCommand: normalStart
+  - event:
+      gameEvent:
+        type: prepared
+        details:
+          prepared:
+            timetaken: 1.0
+    expectedStateDiff:
+      command: normalStart
+      commandFor: ""
+      nextCommand: ""
+      stage: First Half
+      stageTimeLeft: 5m
+      matchTimeStart: "2010-01-01T00:00:01Z"
+      currentActionDeadline: "2010-01-01T00:00:11Z"
+      currentActionTimeRemaining: 10s
+  - tick: 1s # make sure that the stage time is not proceeded
+    expectedStateDiff:
+      currentActionTimeRemaining: 9s
+      stageTimeElapsed: 1s
+      stageTimeLeft: 4m59s
+      matchDuration: 1s

internal/app/controller/testdata/engine_test_gameevent_no_progress_in_game.yaml

@@ -0,0 +1,32 @@
+initialState:
+  stage: First Half
+  command: forceStart
+  commandFor: Yellow
+  division: DivA
+transitions:
+  - event:
+      gameEvent:
+        type: noProgressInGame
+        details:
+          noprogressingame:
+            time: 10.0
+            location:
+              x: 1.0
+              y: 2.0
+    expectedStateDiff:
+      command: ballPlacement
+      commandFor: Yellow
+      nextCommand: forceStart
+      placementPos:
+        x: 1.0
+        y: 2.0
+      currentActionDeadline: "2010-01-01T00:00:30Z"
+      currentActionTimeRemaining: 30s
+      gameEvents:
+        - type: noProgressInGame
+          details:
+            noprogressingame:
+              time: 10.0
+              location:
+                x: 1.0
+                y: 2.0