[#127] Calculate nearest_own_bot_distance for failed placement event

Author: g3force

internal/app/engine/process_ballplacement.go

@@ -2,6 +2,7 @@ package engine
 
 import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
+	"slices"
 )
 
 type BallPlacementCoordinator struct {
@@ -23,12 +24,14 @@ func (c *BallPlacementCoordinator) process() {
 	}
 
 	remainingDistance := c.remainingPlacementDistance()
+	nearestOwnRobotDistance := c.nearestOwnRobotDistance()
 
 	e.Enqueue(createGameEventChange(state.GameEvent_PLACEMENT_FAILED, &state.GameEvent{
 		Event: &state.GameEvent_PlacementFailed_{
 			PlacementFailed: &state.GameEvent_PlacementFailed{
-				ByTeam:            e.currentState.Command.ForTeam,
-				RemainingDistance: &remainingDistance,
+				ByTeam:                e.currentState.Command.ForTeam,
+				RemainingDistance:     &remainingDistance,
+				NearestOwnBotDistance: &nearestOwnRobotDistance,
 			},
 		},
 	}))
@@ -42,3 +45,25 @@ func (c *BallPlacementCoordinator) remainingPlacementDistance() float32 {
 	ballPos := c.gcEngine.trackerStateGc.Ball.Pos.ToVector2()
 	return float32(placementPos.DistanceTo(ballPos))
 }
+
+func (c *BallPlacementCoordinator) nearestOwnRobotDistance() float32 {
+	if c.gcEngine.currentState.PlacementPos == nil {
+		return -1
+	}
+	placementPos := c.gcEngine.currentState.PlacementPos
+
+	var distances []float32
+	for _, robot := range c.gcEngine.trackerStateGc.Robots {
+		if *robot.Id.Team == *c.gcEngine.currentState.Command.ForTeam {
+			distance := float32(robot.Pos.DistanceTo(placementPos))
+			distances = append(distances, distance)
+		}
+	}
+
+	if len(distances) == 0 {
+		return -1
+	}
+
+	slices.Sort(distances)
+	return distances[0]
+}