Show number bot substitutions left and time left

Author: g3force

frontend/src/components/StatusBar.vue

@@ -8,6 +8,7 @@ const online = ref(false)
 const team = ref(Team.UNKNOWN)
 const maxRobots = ref(0)
 const numRobots = ref(0)
+const diffRobots = ref("")
 const yellowCardsDue = ref(defaultYellowCardsDue)
 const api = inject<ApiController>('api')
 let onlineTimer: NodeJS.Timeout
@@ -27,6 +28,8 @@ api?.RegisterStateConsumer((s) => {
   team.value = s.team || Team.UNKNOWN
   maxRobots.value = s.maxRobots
   numRobots.value = s.robotsOnField
+  const robotDiff = s.maxRobots - s.robotsOnField
+  diffRobots.value = robotDiff <= 0 ? `${robotDiff}` : `+${robotDiff}`
   yellowCardsDue.value = s.yellowCardsDue.sort((a: number, b: number) => a - b)
   if (onlineTimer) {
     clearTimeout(onlineTimer)
@@ -44,7 +47,7 @@ online.value = false
 
   <div class="left-bar">
     <div class="left-bar-element">
-      Robots: <strong>{{ numRobots }}</strong> / <strong>{{ maxRobots }}</strong>
+      Robots: <strong>{{ numRobots }}</strong> / <strong>{{ maxRobots }}</strong> (<strong>{{ diffRobots }}</strong>)
     </div>
     <div class="left-bar-element">
       Yellow cards due:

frontend/src/main.ts

@@ -20,6 +20,8 @@ if (import.meta.env.PROD) {
         timeoutsLeft: 0,
         timeoutTimeLeft: 0,
         canSubstituteRobot: false,
+        botSubstitutionsLeft: 0,
+        botSubstitutionTimeLeft: 0,
     }
 } else {
     latestState = {
@@ -39,6 +41,8 @@ if (import.meta.env.PROD) {
         timeoutsLeft: 4,
         timeoutTimeLeft: 251.5,
         canSubstituteRobot: false,
+        botSubstitutionsLeft: 5,
+        botSubstitutionTimeLeft: 1.5,
     }
 }
 

frontend/src/proto/ssl_gc_rcon_remotecontrol.ts

@@ -174,6 +174,10 @@ export interface RemoteControlTeamState {
   yellowCardsDue: number[];
   /** if true, team is allowed to substitute robots */
   canSubstituteRobot: boolean;
+  /** number of bot substitutions left by the team in this halftime */
+  botSubstitutionsLeft: number;
+  /** number of seconds left for current bot substitution */
+  botSubstitutionTimeLeft: number;
 }
 
 function createBaseRemoteControlRegistration(): RemoteControlRegistration {
@@ -507,6 +511,8 @@ function createBaseRemoteControlTeamState(): RemoteControlTeamState {
     robotsOnField: 0,
     yellowCardsDue: [],
     canSubstituteRobot: false,
+    botSubstitutionsLeft: 0,
+    botSubstitutionTimeLeft: 0,
   };
 }
 
@@ -554,6 +560,12 @@ export const RemoteControlTeamState = {
     if (message.canSubstituteRobot === true) {
       writer.uint32(88).bool(message.canSubstituteRobot);
     }
+    if (message.botSubstitutionsLeft !== 0) {
+      writer.uint32(104).uint32(message.botSubstitutionsLeft);
+    }
+    if (message.botSubstitutionTimeLeft !== 0) {
+      writer.uint32(117).float(message.botSubstitutionTimeLeft);
+    }
     return writer;
   },
 
@@ -675,6 +687,20 @@ export const RemoteControlTeamState = {
 
           message.canSubstituteRobot = reader.bool();
           continue;
+        case 13:
+          if (tag != 104) {
+            break;
+          }
+
+          message.botSubstitutionsLeft = reader.uint32();
+          continue;
+        case 14:
+          if (tag != 117) {
+            break;
+          }
+
+          message.botSubstitutionTimeLeft = reader.float();
+          continue;
       }
       if ((tag & 7) == 4 || tag == 0) {
         break;
@@ -702,6 +728,8 @@ export const RemoteControlTeamState = {
       robotsOnField: isSet(object.robotsOnField) ? Number(object.robotsOnField) : 0,
       yellowCardsDue: Array.isArray(object?.yellowCardsDue) ? object.yellowCardsDue.map((e: any) => Number(e)) : [],
       canSubstituteRobot: isSet(object.canSubstituteRobot) ? Boolean(object.canSubstituteRobot) : false,
+      botSubstitutionsLeft: isSet(object.botSubstitutionsLeft) ? Number(object.botSubstitutionsLeft) : 0,
+      botSubstitutionTimeLeft: isSet(object.botSubstitutionTimeLeft) ? Number(object.botSubstitutionTimeLeft) : 0,
     };
   },
 
@@ -731,6 +759,8 @@ export const RemoteControlTeamState = {
       obj.yellowCardsDue = [];
     }
     message.canSubstituteRobot !== undefined && (obj.canSubstituteRobot = message.canSubstituteRobot);
+    message.botSubstitutionsLeft !== undefined && (obj.botSubstitutionsLeft = Math.round(message.botSubstitutionsLeft));
+    message.botSubstitutionTimeLeft !== undefined && (obj.botSubstitutionTimeLeft = message.botSubstitutionTimeLeft);
     return obj;
   },
 
@@ -752,6 +782,8 @@ export const RemoteControlTeamState = {
     message.robotsOnField = object.robotsOnField ?? 0;
     message.yellowCardsDue = object.yellowCardsDue?.map((e) => e) || [];
     message.canSubstituteRobot = object.canSubstituteRobot ?? false;
+    message.botSubstitutionsLeft = object.botSubstitutionsLeft ?? 0;
+    message.botSubstitutionTimeLeft = object.botSubstitutionTimeLeft ?? 0;
     return message;
   },
 };

frontend/src/views/ControlButtons.vue

@@ -25,14 +25,17 @@ const emergencyStopRequested = computed(() => state.value.activeRequests.include
 const timeoutRequested = computed(() => state.value.activeRequests.includes(RemoteControlRequestType.TIMEOUT))
 const robotSubstitutionRequested = computed(() => state.value.activeRequests.includes(RemoteControlRequestType.ROBOT_SUBSTITUTION))
 const robotDiff = computed(() => {
-  const diff = state.value.maxRobots - state.value.robotsOnField
-  if (diff > 0) {
-    return `Add up to ${diff} robots`
+  const botSubstitutionsLeftMsg = `${state.value.botSubstitutionsLeft} free left`
+  if (state.value.botSubstitutionTimeLeft > 0) {
+    return `${botSubstitutionsLeftMsg} (${Math.round(state.value.botSubstitutionTimeLeft)} s)`
   }
-  if (diff < 0) {
-    return `Remove ${diff} robots`
+  return botSubstitutionsLeftMsg
+})
+const botSubstitutionRequestedMsg = computed(() => {
+  if (state.value.canSubstituteRobot) {
+    return 'Finish Robot Substitution'
   }
-  return ''
+  return 'Cancel Robot Substitution Request'
 })
 
 const requestChallengeFlag = () => router.push('/confirm-challenge-flag')
@@ -107,8 +110,8 @@ const requestRobotSubstitution = (request: boolean) => api?.Send({
       class="two-columns"
       :can-request="canRequestRobotSubstitution"
       :requested="robotSubstitutionRequested"
-      text="Robot Substitution"
-      text-requested="Stop Robot Substitution"
+      text="Request Robot Substitution"
+      :text-requested="botSubstitutionRequestedMsg"
       :text-additional="robotDiff"
       @request="requestRobotSubstitution"
     />

internal/rcon/ssl_gc_rcon_remotecontrol.pb.go

@@ -97,6 +97,12 @@ message RemoteControlTeamState {
 
     // if true, team is allowed to substitute robots
     optional bool can_substitute_robot = 11;
+
+    // number of bot substitutions left by the team in this halftime
+    optional uint32 bot_substitutions_left = 13;
+
+    // number of seconds left for current bot substitution
+    optional float bot_substitution_time_left = 14;
 }
 
 // All possible request types that the remote control can make