Allow robot substitution during halt

Author: g3force

frontend/src/proto/ssl_gc_referee_message.ts

@@ -461,6 +461,8 @@ export interface Referee_TeamInfo {
   botSubstitutionIntent?: boolean;
   /** Indicate if the team reached the maximum allowed ball placement failures and is thus not allowed to place the ball anymore */
   ballPlacementFailuresReached?: boolean;
+  /** The team is allowed to substitute one or more robots currently */
+  botSubstitutionAllowed?: boolean;
 }
 
 /**
@@ -564,6 +566,7 @@ export const Referee_TeamInfo = {
       ballPlacementFailuresReached: isSet(object.ballPlacementFailuresReached)
         ? Boolean(object.ballPlacementFailuresReached)
         : false,
+      botSubstitutionAllowed: isSet(object.botSubstitutionAllowed) ? Boolean(object.botSubstitutionAllowed) : false,
     };
   },
 
@@ -589,6 +592,7 @@ export const Referee_TeamInfo = {
     message.botSubstitutionIntent !== undefined && (obj.botSubstitutionIntent = message.botSubstitutionIntent);
     message.ballPlacementFailuresReached !== undefined &&
       (obj.ballPlacementFailuresReached = message.ballPlacementFailuresReached);
+    message.botSubstitutionAllowed !== undefined && (obj.botSubstitutionAllowed = message.botSubstitutionAllowed);
     return obj;
   },
 };

frontend/src/proto/ssl_gc_state.ts

@@ -228,6 +228,7 @@ export interface TeamInfo {
   requestsTimeoutSince?: Date;
   requestsEmergencyStopSince?: Date;
   challengeFlags?: number;
+  botSubstitutionAllowed?: boolean;
 }
 
 export interface State {
@@ -409,6 +410,7 @@ export const TeamInfo = {
         ? fromJsonTimestamp(object.requestsEmergencyStopSince)
         : undefined,
       challengeFlags: isSet(object.challengeFlags) ? Number(object.challengeFlags) : 0,
+      botSubstitutionAllowed: isSet(object.botSubstitutionAllowed) ? Boolean(object.botSubstitutionAllowed) : false,
     };
   },
 
@@ -449,6 +451,7 @@ export const TeamInfo = {
     message.requestsEmergencyStopSince !== undefined &&
       (obj.requestsEmergencyStopSince = message.requestsEmergencyStopSince.toISOString());
     message.challengeFlags !== undefined && (obj.challengeFlags = Math.round(message.challengeFlags));
+    message.botSubstitutionAllowed !== undefined && (obj.botSubstitutionAllowed = message.botSubstitutionAllowed);
     return obj;
   },
 };

internal/app/engine/engine.go

@@ -213,12 +213,22 @@ func (e *Engine) Start() error {
 		return errors.Wrap(err, "Could not load state store")
 	}
 	e.currentState = e.initialStateFromStore()
+
+	initializeAddedTeamInfoFields(e.currentState.TeamInfo(state.Team_BLUE))
+	initializeAddedTeamInfoFields(e.currentState.TeamInfo(state.Team_YELLOW))
+
 	e.stateMachine.Geometry = e.gameConfig.DefaultGeometry[e.currentState.Division.Div()]
 	log.Printf("Loaded default geometry for DivA: %+v", e.stateMachine.Geometry)
 	go e.processChanges()
 	return nil
 }
 
+func initializeAddedTeamInfoFields(teamInfo *state.TeamInfo) {
+	if teamInfo.BotSubstitutionAllowed == nil {
+		teamInfo.BotSubstitutionAllowed = new(bool)
+	}
+}
+
 // Stop stops the go routine that processes the change queue
 func (e *Engine) Stop() {
 	e.mutex.Lock()

internal/app/engine/process_continue_next_action.go

@@ -91,7 +91,8 @@ func (e *Engine) nextActions() (actions []*ContinueAction) {
 		}
 	}
 
-	if *e.currentState.Command.Type == state.Command_STOP {
+	if *e.currentState.Command.Type == state.Command_STOP ||
+		*e.currentState.Command.Type == state.Command_HALT {
 		if e.currentState.StageTimeLeft.AsDuration() < 0 {
 			actions = append(actions, createContinueAction(
 				ContinueAction_NEXT_STAGE,
@@ -121,7 +122,11 @@ func (e *Engine) nextActions() (actions []*ContinueAction) {
 				*teamRequestingTimeout,
 				ContinueAction_READY_MANUAL,
 			))
-		} else if e.ballPlacementRequired() {
+		}
+	}
+
+	if *e.currentState.Command.Type == state.Command_STOP {
+		if e.ballPlacementRequired() {
 			placingTeam := e.ballPlacementTeam()
 			if placingTeam.Known() {
 				actions = append(actions, createContinueAction(
@@ -146,11 +151,16 @@ func (e *Engine) nextActions() (actions []*ContinueAction) {
 	}
 
 	if *e.currentState.Command.Type == state.Command_HALT {
-		actions = append(actions, createContinueAction(
+		continueFromHalt := createContinueAction(
 			ContinueAction_RESUME_FROM_HALT,
 			state.Team_UNKNOWN,
 			ContinueAction_READY_MANUAL,
-		))
+		)
+		if e.teamDoingBotSubstitution() {
+			continueFromHalt.ContinuationIssues = append(continueFromHalt.ContinuationIssues,
+				"Robot substitution in progress")
+		}
+		actions = append(actions, continueFromHalt)
 	}
 
 	if *e.currentState.Command.Type != state.Command_HALT &&
@@ -168,7 +178,8 @@ func (e *Engine) nextActions() (actions []*ContinueAction) {
 func (e *Engine) teamRequestingBotSubstitution() *state.Team {
 	var teams []state.Team
 	for _, team := range state.BothTeams() {
-		if e.currentState.TeamInfo(team).RequestsBotSubstitutionSince != nil {
+		if e.currentState.TeamInfo(team).RequestsBotSubstitutionSince != nil &&
+			!*e.currentState.TeamInfo(team).BotSubstitutionAllowed {
 			teams = append(teams, team)
 		}
 	}
@@ -181,6 +192,15 @@ func (e *Engine) teamRequestingBotSubstitution() *state.Team {
 	return nil
 }
 
+func (e *Engine) teamDoingBotSubstitution() bool {
+	for _, team := range state.BothTeams() {
+		if *e.currentState.TeamInfo(team).BotSubstitutionAllowed {
+			return true
+		}
+	}
+	return false
+}
+
 func (e *Engine) teamRequestingTimeout() *state.Team {
 	requestBlue := e.currentState.TeamInfo(state.Team_BLUE).RequestsTimeoutSince
 	requestYellow := e.currentState.TeamInfo(state.Team_YELLOW).RequestsTimeoutSince

internal/app/publish/messagegenerator.go

@@ -135,6 +135,7 @@ func updateTeam(teamInfo *state.Referee_TeamInfo, teamState *state.TeamInfo) {
 	*teamInfo.CanPlaceBall = *teamState.CanPlaceBall
 	*teamInfo.MaxAllowedBots = unsigned32(*teamState.MaxAllowedBots)
 	*teamInfo.BotSubstitutionIntent = teamState.RequestsBotSubstitutionSince != nil
+	*teamInfo.BotSubstitutionAllowed = *teamState.BotSubstitutionAllowed
 	timeoutTime := teamState.TimeoutTimeLeft.AsDuration()
 	*teamInfo.TimeoutTime = mapTime(timeoutTime)
 }
@@ -171,6 +172,7 @@ func newTeamInfo() (t *state.Referee_TeamInfo) {
 	t.CanPlaceBall = new(bool)
 	t.MaxAllowedBots = new(uint32)
 	t.BotSubstitutionIntent = new(bool)
+	t.BotSubstitutionAllowed = new(bool)
 	return
 }
 

internal/app/rcon/server_remotecontrol.go

@@ -199,10 +199,7 @@ func (c *RemoteControlClient) findYellowCardDueTimes() []float32 {
 
 func (c *RemoteControlClient) canSubstituteRobot() bool {
 	teamState := c.gcEngine.CurrentState().TeamState[c.team.String()]
-	substitutionEvents := c.gcEngine.CurrentState().FindGameEventsByTeam(state.GameEvent_BOT_SUBSTITUTION, *c.team)
-	return len(substitutionEvents) > 0 &&
-		teamState.RequestsBotSubstitutionSince != nil &&
-		c.gcEngine.CurrentState().GameState.IsHalted()
+	return *teamState.BotSubstitutionAllowed
 }
 
 func (c *RemoteControlClient) findActiveRequestTypes() []RemoteControlRequestType {
@@ -280,11 +277,6 @@ func (c *RemoteControlClient) checkStopTimeout() error {
 }
 
 func (c *RemoteControlClient) checkRequestRobotSubstitution() error {
-	gameStateType := *c.gcEngine.CurrentState().GameState.Type
-	teamState := c.gcEngine.CurrentState().TeamState[c.team.String()]
-	if gameStateType == state.GameState_HALT && teamState.RequestsBotSubstitutionSince == nil {
-		return errors.New("Game is halted")
-	}
 	return nil
 }