Add auto approve goal option (for CI mode)

Author: g3force

config/ssl-game-controller.yaml

@@ -37,6 +37,7 @@ game:
   ball-placement-min-distance-to-defense-area: 0.7
   ball-placement-min-robot-distance: 0.05
   distance-to-ball-in-stop: 0.5
+  auto-approve-goals: false
   normal:
     half-duration: 5m
     half-time-duration: 5m

internal/app/config/config.go

@@ -58,6 +58,7 @@ type Game struct {
 	BallPlacementTolerance                float64                    `yaml:"ball-placement-tolerance"`
 	BallPlacementMinRobotDistance         float64                    `yaml:"ball-placement-min-robot-distance"`
 	DistanceToBallInStop                  float64                    `yaml:"distance-to-ball-in-stop"`
+	AutoApproveGoals                      bool                       `yaml:"auto-approve-goals"`
 }
 
 // Network holds configs for network communication
@@ -169,6 +170,7 @@ func DefaultControllerConfig() (c Controller) {
 	c.Game.BallPlacementTolerance = 0.15
 	c.Game.BallPlacementMinRobotDistance = 0.05
 	c.Game.DistanceToBallInStop = 0.5
+	c.Game.AutoApproveGoals = false
 
 	c.Game.Normal.HalfDuration = 5 * time.Minute
 	c.Game.Normal.HalfTimeDuration = 5 * time.Minute

internal/app/config/testdata/config.yaml

@@ -37,6 +37,7 @@ game:
   ball-placement-min-distance-to-defense-area: 0.7
   ball-placement-min-robot-distance: 0.05
   distance-to-ball-in-stop: 0.5
+  auto-approve-goals: false
   normal:
     half-duration: 5m
     half-time-duration: 5m

internal/app/statemachine/change_gameevent.go

@@ -78,6 +78,9 @@ func (s *StateMachine) processChangeAddGameEvent(newState *state.State, change *
 		log.Printf("Halt the game, because team %v might have scored a goal", byTeam)
 		// halt the game to let the human referee decide if this was a valid goal
 		changes = append(changes, s.newCommandChange(state.NewCommandNeutral(state.Command_HALT)))
+		if s.gameConfig.AutoApproveGoals {
+			changes = append(changes, createGameEventChange(state.GameEvent_GOAL, *gameEvent))
+		}
 	}
 
 	// bot substitution
@@ -157,18 +160,24 @@ func (s *StateMachine) processChangeAddGameEvent(newState *state.State, change *
 
 // multipleFoulsChange creates a multiple fouls event change
 func (s *StateMachine) multipleFoulsChange(byTeam state.Team) *Change {
-	eventType := state.GameEvent_MULTIPLE_FOULS
+	return createGameEventChange(state.GameEvent_MULTIPLE_FOULS, state.GameEvent{
+		Event: &state.GameEvent_MultipleFouls_{
+			MultipleFouls: &state.GameEvent_MultipleFouls{
+				ByTeam: &byTeam,
+			},
+		},
+	},
+	)
+}
+
+func createGameEventChange(eventType state.GameEvent_Type, event state.GameEvent) *Change {
+	event.Type = &eventType
+	event.Origin = []string{changeOriginStateMachine}
 	return &Change{
+		Origin: &changeOriginStateMachine,
 		Change: &Change_AddGameEvent{
 			AddGameEvent: &AddGameEvent{
-				GameEvent: &state.GameEvent{
-					Type: &eventType,
-					Event: &state.GameEvent_MultipleFouls_{
-						MultipleFouls: &state.GameEvent_MultipleFouls{
-							ByTeam: &byTeam,
-						},
-					},
-				},
+				GameEvent: &event,
 			},
 		},
 	}

internal/app/statemachine/statemachine.go

@@ -9,7 +9,7 @@ import (
 	"time"
 )
 
-const changeOriginStateMachine = "StateMachine"
+var changeOriginStateMachine = "StateMachine"
 
 // StateMachine describes the state machine that translates changes into new states
 type StateMachine struct {