Add continuation issue for ball outside field

RoboCup-SSL · Jul 6, 2023 · 5223b30 · 5223b30
1 parent dd937d3
commit 5223b30
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/internal/app/engine/process_continue_next_command.go b/internal/app/engine/process_continue_next_command.go
@@ -6,6 +6,7 @@ import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
 	"github.com/RoboCup-SSL/ssl-game-controller/pkg/timer"
 	"google.golang.org/protobuf/types/known/timestamppb"
+	"math"
 	"strings"
 	"time"
 )
@@ -221,6 +222,13 @@ func (e *Engine) readyToContinueFromStop() (issues []string) {
 				ballToPlacementPosDist, e.gameConfig.BallPlacementRequiredDistance))
 		}
 	}
+
+	ballPos := e.trackerStateGc.Ball.Pos.ToVector2()
+	if math.Abs(float64(*ballPos.X)) > e.getGeometry().FieldLength/2 ||
+		math.Abs(float64(*ballPos.Y)) > e.getGeometry().FieldWidth/2 {
+		issues = append(issues, fmt.Sprintf("Ball is outside of field: %v", ballPos))
+	}
+
 	if !e.trackerStateGc.Ball.IsSteady() {
 		issues = append(issues, "Ball position is not steady")
 	}