From 3a623d909278d1bbd5d70c8fd1840ced9305020b Mon Sep 17 00:00:00 2001
From: Nicolai Ommer <nicolai.ommer@gmail.com>
Date: Sun, 24 Apr 2022 13:22:29 +0200
Subject: [PATCH] Automatically request robot substitution on too many robots

---
 internal/app/engine/process_continue.go       |  6 ++++++
 internal/app/statemachine/change_gameevent.go | 15 +++++++++++++++
 2 files changed, 21 insertions(+)

diff --git a/internal/app/engine/process_continue.go b/internal/app/engine/process_continue.go
index b3b1675a..8543004b 100644
--- a/internal/app/engine/process_continue.go
+++ b/internal/app/engine/process_continue.go
@@ -118,6 +118,12 @@ func (e *Engine) readyToContinuePenalty() (issues []string) {
 }
 
 func (e *Engine) readyToContinueFromStop() (issues []string) {
+	for _, team := range state.BothTeams() {
+		if e.currentState.TeamInfo(team).RequestsBotSubstitutionSince != nil {
+			// next action is robot substitution, no need to check the other issues
+			return
+		}
+	}
 	if e.tooManyRobots(state.Team_YELLOW) {
 		issues = append(issues, "Yellow team has too many robots")
 	}
diff --git a/internal/app/statemachine/change_gameevent.go b/internal/app/statemachine/change_gameevent.go
index f776d41f..cfa76a0d 100644
--- a/internal/app/statemachine/change_gameevent.go
+++ b/internal/app/statemachine/change_gameevent.go
@@ -7,6 +7,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 	"google.golang.org/protobuf/proto"
 	"google.golang.org/protobuf/types/known/durationpb"
+	"google.golang.org/protobuf/types/known/timestamppb"
 	"log"
 	"time"
 )
@@ -126,6 +127,20 @@ func (s *StateMachine) processChangeAddGameEvent(newState *state.State, change *
 		changes = append(changes, s.createCommandChange(state.NewCommandNeutral(state.Command_HALT)))
 	}
 
+	// too many robots
+	if *gameEvent.Type == state.GameEvent_TOO_MANY_ROBOTS {
+		byTeam := *gameEvent.GetTooManyRobots().ByTeam
+		if byTeam.Known() {
+			log.Printf("Team %s has too many robots. Requesting robot substition for them", byTeam)
+			newState.TeamInfo(byTeam).RequestsBotSubstitutionSince = timestamppb.New(s.timeProvider())
+		} else {
+			log.Printf("Too many robots, but no information on team. Requesting for both")
+			for _, team := range state.BothTeams() {
+				newState.TeamInfo(team).RequestsBotSubstitutionSince = timestamppb.New(s.timeProvider())
+			}
+		}
+	}
+
 	// challenge flag
 	if *gameEvent.Type == state.GameEvent_CHALLENGE_FLAG {
 		log.Printf("Reduce number of timeouts for %v by one for challenge flag", byTeam)