Supervise number of robots on the field

Author: g3force

config/ssl-game-controller.yaml

@@ -17,6 +17,7 @@ server:
 game:
   state-store-file: state-store.json.stream
   yellow-card-duration: 2m
+  yellow-card-bot-removal-time: 10s
   multiple-card-step: 2
   multiple-foul-step: 3
   multiple-placement-failures: 5

internal/app/config/config.go

@@ -36,6 +36,7 @@ type Geometry struct {
 // Game holds configs that are valid for the whole game
 type Game struct {
 	YellowCardDuration                    time.Duration              `yaml:"yellow-card-duration"`
+	YellowCardBotRemovalTime              time.Duration              `yaml:"yellow-card-bot-removal-time"`
 	DefaultDivision                       Division                   `yaml:"default-division"`
 	Normal                                Special                    `yaml:"normal"`
 	Overtime                              Special                    `yaml:"overtime"`
@@ -152,6 +153,7 @@ func DefaultControllerConfig() (c Controller) {
 	c.Network.TrackerAddress = "224.5.23.2:10010"
 	c.Game.StateStoreFile = "state-store.json.stream"
 	c.Game.YellowCardDuration = 2 * time.Minute
+	c.Game.YellowCardBotRemovalTime = 10 * time.Second
 	c.Game.TeamChoiceTimeout = 200 * time.Millisecond
 	c.Game.MultipleCardStep = 2
 	c.Game.MultipleFoulStep = 3

internal/app/config/testdata/config.yaml

@@ -17,6 +17,7 @@ server:
 game:
   state-store-file: state-store.json.stream
   yellow-card-duration: 2m
+  yellow-card-bot-removal-time: 10s
   multiple-card-step: 2
   multiple-foul-step: 3
   multiple-placement-failures: 5

internal/app/engine/engine.go

@@ -172,7 +172,7 @@ func (e *Engine) processChanges() {
 			e.noProgressDetector.process()
 			e.ballPlacementCoordinator.process()
 			e.processPrepare()
-			e.processBotRemoved()
+			e.processBotNumber()
 		}
 	}
 }

internal/app/engine/process_botremoved.go

@@ -1,6 +1,61 @@
 package engine
 
-func (e *Engine) processBotRemoved() {
-	// TODO check that bot limit fulfilled within 10s after a yellow card
-	// check bot number in general as well
+import (
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/geom"
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
+	"github.com/golang/protobuf/ptypes"
+	"time"
+)
+
+func (e *Engine) processBotNumber() {
+	for _, team := range state.BothTeams() {
+		e.processBotNumberPerTeam(team)
+	}
+}
+
+func (e *Engine) processBotNumberPerTeam(team state.Team) {
+
+	teamInfo := e.currentState.TeamState[team.String()]
+	newCards := newActiveYellowCards(
+		teamInfo.YellowCards,
+		e.gameConfig.YellowCardDuration-e.gameConfig.YellowCardBotRemovalTime,
+	)
+
+	numBots := numRobotsOfTeam(e.gcState.TrackerStateGc.Robots, team)
+	numBotsAllowed := *teamInfo.MaxAllowedBots + newCards
+	if numBots > numBotsAllowed {
+		var ballPos *geom.Vector2
+		if e.gcState.TrackerStateGc.Ball != nil {
+			ballPos = e.gcState.TrackerStateGc.Ball.Pos.ToVector2()
+		}
+		e.Enqueue(createGameEventChange(state.GameEvent_TOO_MANY_ROBOTS, state.GameEvent{
+			Event: &state.GameEvent_TooManyRobots_{
+				TooManyRobots: &state.GameEvent_TooManyRobots{
+					ByTeam:           e.currentState.Command.ForTeam,
+					NumRobotsAllowed: &numBotsAllowed,
+					NumRobotsOnField: &numBots,
+					BallLocation:     ballPos,
+				},
+			},
+		}))
+	}
+}
+
+func newActiveYellowCards(cards []*state.YellowCard, minRemaining time.Duration) (count int32) {
+	for _, c := range cards {
+		d, _ := ptypes.Duration(c.TimeRemaining)
+		if d > minRemaining {
+			count++
+		}
+	}
+	return
+}
+
+func numRobotsOfTeam(robots []*Robot, team state.Team) (count int32) {
+	for _, robot := range robots {
+		if *robot.Id.Team == team {
+			count++
+		}
+	}
+	return
 }

internal/app/state/ssl_gc_game_event.pb.go

@@ -215,7 +215,8 @@ func (s *StateMachine) nextCommandForEvent(newState *state.State, gameEvent *sta
 		return state.NewCommand(state.Command_PENALTY, gameEvent.ByTeam().Opposite())
 	case state.GameEvent_GOAL:
 		return state.NewCommand(state.Command_KICKOFF, gameEvent.ByTeam().Opposite())
-	case state.GameEvent_NO_PROGRESS_IN_GAME:
+	case state.GameEvent_NO_PROGRESS_IN_GAME,
+		state.GameEvent_TOO_MANY_ROBOTS:
 		return state.NewCommand(state.Command_FORCE_START, state.Team_UNKNOWN)
 	default:
 		return newState.NextCommand
@@ -288,6 +289,7 @@ func stopsTheGame(gameEvent state.GameEvent_Type) bool {
 		state.GameEvent_BOT_HELD_BALL_DELIBERATELY,
 		state.GameEvent_BOT_TIPPED_OVER,
 		// others
+		state.GameEvent_TOO_MANY_ROBOTS,
 		state.GameEvent_PLACEMENT_SUCCEEDED:
 		return true
 	}

internal/app/statemachine/change_gameevent.go

@@ -82,6 +82,8 @@ func (s *BallPlacementPosDeterminer) Location() *geom.Vector2 {
 		return s.validateLocation(s.Event.GetNoProgressInGame().Location)
 	case state.GameEvent_PLACEMENT_FAILED:
 		return s.validateLocation(s.CurrentPlacementPos)
+	case state.GameEvent_TOO_MANY_ROBOTS:
+		return s.validateLocation(s.Event.GetTooManyRobots().BallLocation)
 	default:
 		return s.validateLocation(nil)
 	}

internal/app/statemachine/placementPos.go

@@ -69,6 +69,7 @@ message GameEvent {
         MultipleCards multiple_cards = 32;
         MultipleFouls multiple_fouls = 34;
         BotSubstitution bot_substitution = 37;
+        TooManyRobots too_many_robots = 38;
 
         // Events triggered by the human referee through the GC only
 
@@ -82,8 +83,6 @@ message GameEvent {
 
         // replaced by ready_to_continue flag
         Prepared prepared = 1 [deprecated = true];
-        // event not raised explicitly
-        TooManyRobots too_many_robots = 38 [deprecated = true];
         // obsolete
         IndirectGoal indirect_goal = 9 [deprecated = true];
         // replaced by the meta-information in the possible_goal event
@@ -445,6 +444,12 @@ message GameEvent {
     message TooManyRobots {
         // the team that has too many robots
         required Team by_team = 1;
+        // number of robots allowed at the moment
+        optional int32 num_robots_allowed = 2;
+        // number of robots currently on the field
+        optional int32 num_robots_on_field = 3;
+        // the location of the ball at the moment when this foul occurred
+        optional Vector2 ball_location = 4;
     }
     // a robot chipped the ball over the field boundary out of the playing surface
     message BoundaryCrossing {
@@ -502,6 +507,7 @@ message GameEvent {
         MULTIPLE_CARDS = 32;
         MULTIPLE_FOULS = 34;
         BOT_SUBSTITUTION = 37;
+        TOO_MANY_ROBOTS = 38;
 
         // Events triggered by the human referee through the GC only
 
@@ -514,7 +520,6 @@ message GameEvent {
         // Deprecated events
 
         PREPARED = 1 [deprecated = true];
-        TOO_MANY_ROBOTS = 38 [deprecated = true];
         INDIRECT_GOAL = 9 [deprecated = true];
         CHIPPED_GOAL = 10 [deprecated = true];
         KICK_TIMEOUT = 12 [deprecated = true];