[feature] Add maxAllowedBots to state, UI and referee message

Author: g3force

config/ssl-game-controller.yaml

@@ -45,4 +45,7 @@ game:
       placement-offset-touch-line: 0.2
       placement-offset-goal-line: 0.2
       placement-offset-goal-line-goal-kick: 1.0
-      placement-offset-defense-area: 1.0
+      placement-offset-defense-area: 1.0
+  max-bots:
+    DivA: 8
+    DivB: 6

internal/app/controller/config.go

@@ -38,6 +38,7 @@ type ConfigGame struct {
 	MultipleCardStep          int                          `yaml:"multiple-card-step"`
 	MultipleFoulStep          int                          `yaml:"multiple-foul-step"`
 	MultiplePlacementFailures int                          `yaml:"multiple-placement-failures"`
+	MaxBots                   map[Division]int             `yaml:"max-bots"`
 }
 
 // ConfigNetwork holds configs for network communication
@@ -144,6 +145,10 @@ func DefaultConfig() (c Config) {
 	c.Game.DefaultGeometry[DivB].PlacementOffsetTouchLine = 0.2
 	c.Game.DefaultGeometry[DivB].PlacementOffsetDefenseArea = 1.0
 
+	c.Game.MaxBots = map[Division]int{}
+	c.Game.MaxBots[DivA] = 8
+	c.Game.MaxBots[DivB] = 6
+
 	return
 }
 

internal/app/controller/engine.go

@@ -32,10 +32,12 @@ func NewEngine(config ConfigGame) (e Engine) {
 
 func (e *Engine) ResetGame() {
 	e.State = NewState()
-	e.State.TeamState[TeamBlue].TimeoutTimeLeft = e.config.Normal.TimeoutDuration
-	e.State.TeamState[TeamYellow].TimeoutTimeLeft = e.config.Normal.TimeoutDuration
-	e.State.TeamState[TeamBlue].TimeoutsLeft = e.config.Normal.Timeouts
-	e.State.TeamState[TeamYellow].TimeoutsLeft = e.config.Normal.Timeouts
+	for _, team := range []Team{TeamBlue, TeamYellow} {
+		e.State.TeamState[team].TimeoutTimeLeft = e.config.Normal.TimeoutDuration
+		e.State.TeamState[team].TimeoutsLeft = e.config.Normal.Timeouts
+		e.State.TeamState[team].MaxAllowedBots = e.config.MaxBots[e.State.Division]
+	}
+
 	e.RefereeEvents = []RefereeEvent{}
 	e.State.Division = e.config.DefaultDivision
 	e.Geometry = *e.config.DefaultGeometry[e.State.Division]
@@ -177,10 +179,20 @@ func (e *Engine) Process(event Event) error {
 	if err != nil {
 		return err
 	}
+	e.updateMaxBots()
 	e.appendHistory()
 	return nil
 }
 
+func (e *Engine) updateMaxBots() {
+	for _, team := range []Team{TeamBlue, TeamYellow} {
+		max := e.config.MaxBots[e.State.Division]
+		yellowCards := len(e.State.TeamState[team].YellowCardTimes)
+		redCards := e.State.TeamState[team].RedCards
+		e.State.TeamState[team].MaxAllowedBots = max - yellowCards - redCards
+	}
+}
+
 func (e *Engine) appendHistory() {
 	e.History = append(e.History, HistoryEntry{*e.State, e.RefereeEvents})
 	if len(e.History) > maxHistorySize {
@@ -288,6 +300,7 @@ func (e *Engine) updateTimes(delta time.Duration) {
 		for team, teamState := range e.State.TeamState {
 			reduceYellowCardTimes(teamState, delta)
 			e.removeElapsedYellowCards(team, teamState)
+			e.updateMaxBots()
 		}
 	}
 

internal/app/controller/publisher.go

@@ -71,6 +71,7 @@ func initTeamInfo(t *refproto.Referee_TeamInfo) {
 	t.FoulCounter = new(uint32)
 	t.BallPlacementFailures = new(uint32)
 	t.CanPlaceBall = new(bool)
+	t.MaxAllowedBots = new(uint32)
 }
 
 // Publish the state and command
@@ -203,6 +204,7 @@ func updateTeam(team *refproto.Referee_TeamInfo, state *TeamInfo) {
 	*team.FoulCounter = uint32(state.FoulCounter)
 	*team.BallPlacementFailures = uint32(state.BallPlacementFailures)
 	*team.CanPlaceBall = state.CanPlaceBall
+	*team.MaxAllowedBots = uint32(state.MaxAllowedBots)
 }
 
 func mapTimes(durations []time.Duration) []uint32 {

internal/app/controller/state.go

@@ -241,6 +241,7 @@ type TeamInfo struct {
 	FoulCounter           int             `json:"foulCounter"`
 	BallPlacementFailures int             `json:"ballPlacementFailures"`
 	CanPlaceBall          bool            `json:"canPlaceBall"`
+	MaxAllowedBots        int             `json:"maxAllowedBots"`
 }
 
 // State of the game
@@ -317,6 +318,7 @@ func newTeamInfo() (t TeamInfo) {
 	t.FoulCounter = 0
 	t.BallPlacementFailures = 0
 	t.CanPlaceBall = true
+	t.MaxAllowedBots = 0
 	return
 }
 

pkg/refproto/ssl_referee.pb.go

@@ -145,6 +145,8 @@ message Referee {
         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;
     }
 
     // Information about the two teams.

pkg/refproto/ssl_referee.proto

@@ -44,6 +44,9 @@
                 <TeamBallPlacement
                         :team-color="teamColor"/>
             </div>
+            <div>
+                Max <b>{{maxAllowedBots}}</b> bots allowed on the field
+            </div>
         </div>
     </div>
 </template>
@@ -78,9 +81,12 @@
             teamColor: String
         },
         computed: {
-            team: function () {
+            team() {
                 return this.$store.state.refBoxState.teamState[this.teamColor]
             },
+            maxAllowedBots() {
+                return this.team.maxAllowedBots;
+            }
         }
     }
 </script>

src/components/team/TeamOverview.vue

@@ -16,6 +16,7 @@ export class TeamState {
     foulCounter = 0;
     ballPlacementFailures = 0;
     canPlaceBall = true;
+    maxAllowedBots = 0;
 }
 
 export class RefBoxState {