Calculate botSubstitutionTimeLeft centrally and distribute it via ref…

…Msg and remote-control

frontend/src/proto/ssl_gc_referee_message.ts

@@ -467,6 +467,8 @@ export interface Referee_TeamInfo {
   botSubstitutionAllowed?: boolean;
   /** The number of bot substitutions left by the team in this halftime */
   botSubstitutionsLeft?: number;
+  /** The number of microseconds left for current bot substitution */
+  botSubstitutionTimeLeft?: number;
 }
 
 /**
@@ -576,6 +578,7 @@ export const Referee_TeamInfo = {
         : false,
       botSubstitutionAllowed: isSet(object.botSubstitutionAllowed) ? Boolean(object.botSubstitutionAllowed) : false,
       botSubstitutionsLeft: isSet(object.botSubstitutionsLeft) ? Number(object.botSubstitutionsLeft) : 0,
+      botSubstitutionTimeLeft: isSet(object.botSubstitutionTimeLeft) ? Number(object.botSubstitutionTimeLeft) : 0,
     };
   },
 
@@ -603,6 +606,8 @@ export const Referee_TeamInfo = {
       (obj.ballPlacementFailuresReached = message.ballPlacementFailuresReached);
     message.botSubstitutionAllowed !== undefined && (obj.botSubstitutionAllowed = message.botSubstitutionAllowed);
     message.botSubstitutionsLeft !== undefined && (obj.botSubstitutionsLeft = Math.round(message.botSubstitutionsLeft));
+    message.botSubstitutionTimeLeft !== undefined &&
+      (obj.botSubstitutionTimeLeft = Math.round(message.botSubstitutionTimeLeft));
     return obj;
   },
 };

frontend/src/proto/ssl_gc_state.ts

@@ -232,6 +232,7 @@ export interface TeamInfo {
   challengeFlags?: number;
   botSubstitutionAllowed?: boolean;
   botSubstitutionsLeft?: number;
+  botSubstitutionTimeLeft?: Duration;
 }
 
 export interface State {
@@ -429,6 +430,9 @@ export const TeamInfo = {
       challengeFlags: isSet(object.challengeFlags) ? Number(object.challengeFlags) : 0,
       botSubstitutionAllowed: isSet(object.botSubstitutionAllowed) ? Boolean(object.botSubstitutionAllowed) : false,
       botSubstitutionsLeft: isSet(object.botSubstitutionsLeft) ? Number(object.botSubstitutionsLeft) : 0,
+      botSubstitutionTimeLeft: isSet(object.botSubstitutionTimeLeft)
+        ? Duration.fromJSON(object.botSubstitutionTimeLeft)
+        : undefined,
     };
   },
 
@@ -471,6 +475,9 @@ export const TeamInfo = {
     message.challengeFlags !== undefined && (obj.challengeFlags = Math.round(message.challengeFlags));
     message.botSubstitutionAllowed !== undefined && (obj.botSubstitutionAllowed = message.botSubstitutionAllowed);
     message.botSubstitutionsLeft !== undefined && (obj.botSubstitutionsLeft = Math.round(message.botSubstitutionsLeft));
+    message.botSubstitutionTimeLeft !== undefined && (obj.botSubstitutionTimeLeft = message.botSubstitutionTimeLeft
+      ? Duration.toJSON(message.botSubstitutionTimeLeft)
+      : undefined);
     return obj;
   },
 };

internal/app/engine/engine.go

@@ -252,6 +252,9 @@ func initializeAddedTeamInfoFields(teamInfo *state.TeamInfo) {
 	if teamInfo.BotSubstitutionsLeft == nil {
 		teamInfo.BotSubstitutionsLeft = new(int32)
 	}
+	if teamInfo.BotSubstitutionTimeLeft == nil {
+		teamInfo.BotSubstitutionTimeLeft = durationpb.New(0)
+	}
 }
 
 // Stop stops the go routine that processes the change queue

internal/app/engine/process_bot_substitution.go

@@ -2,23 +2,19 @@ package engine
 
 import (
 	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
-	"time"
+	"google.golang.org/protobuf/types/known/durationpb"
 )
 
 func (e *Engine) processBotSubstitution() {
 	if e.currentState.GameState.IsHalted() {
 		for _, team := range state.BothTeams() {
-			if !*e.currentState.TeamInfo(team).BotSubstitutionAllowed {
-				continue
-			}
-			events := e.currentState.FindGameEventsByTeam(state.GameEvent_BOT_SUBSTITUTION, team)
-			if len(events) == 0 {
-				continue
-			}
-			botSubstitutionEvent := events[len(events)-1]
-			eventCreated := time.UnixMicro(int64(*botSubstitutionEvent.CreatedTimestamp))
-			if e.timeProvider().Sub(eventCreated) > e.gameConfig.BotSubstitutionTime {
-				e.Enqueue(createBotSubstitutionEventChange(team))
+			if *e.currentState.TeamInfo(team).BotSubstitutionAllowed {
+				if e.currentState.TeamInfo(team).BotSubstitutionTimeLeft.AsDuration() <= 0 {
+					e.Enqueue(createBotSubstitutionEventChange(team))
+					e.currentState.TeamInfo(team).BotSubstitutionTimeLeft = durationpb.New(e.gameConfig.BotSubstitutionTime)
+				}
+			} else {
+				e.currentState.TeamInfo(team).BotSubstitutionTimeLeft = durationpb.New(0)
 			}
 		}
 	}

internal/app/engine/process_tick.go

@@ -31,10 +31,16 @@ func (e *Engine) processTick() {
 		}
 	}
 
-	if e.countCardTime() {
-		for _, teamState := range e.currentState.TeamState {
+	for _, teamState := range e.currentState.TeamState {
+		if e.countCardTime() {
 			e.updateYellowCardTimes(teamState, delta)
 		}
+		if *teamState.BotSubstitutionAllowed {
+			addDur(teamState.BotSubstitutionTimeLeft, -delta)
+			if teamState.BotSubstitutionTimeLeft.AsDuration() < 0 {
+				*teamState.BotSubstitutionTimeLeft = *durationpb.New(0)
+			}
+		}
 	}
 
 	if *e.currentState.Command.Type == state.Command_TIMEOUT {

internal/app/publish/messagegenerator.go

@@ -129,6 +129,7 @@ func updateTeam(teamInfo *state.Referee_TeamInfo, teamState *state.TeamInfo) {
 	teamInfo.YellowCardTimes = mapYellowCardTimes(teamState.YellowCards)
 	*teamInfo.YellowCards = unsigned(len(teamState.YellowCards))
 	*teamInfo.Timeouts = unsigned32(*teamState.TimeoutsLeft)
+	*teamInfo.TimeoutTime = mapTime(teamState.TimeoutTimeLeft.AsDuration())
 	*teamInfo.Goalkeeper = unsigned32(*teamState.Goalkeeper)
 	*teamInfo.FoulCounter = unsigned(len(teamState.Fouls))
 	*teamInfo.BallPlacementFailures = unsigned32(*teamState.BallPlacementFailures)
@@ -138,8 +139,7 @@ func updateTeam(teamInfo *state.Referee_TeamInfo, teamState *state.TeamInfo) {
 	*teamInfo.BotSubstitutionIntent = teamState.RequestsBotSubstitutionSince != nil
 	*teamInfo.BotSubstitutionAllowed = *teamState.BotSubstitutionAllowed
 	*teamInfo.BotSubstitutionsLeft = unsigned32(*teamState.BotSubstitutionsLeft)
-	timeoutTime := teamState.TimeoutTimeLeft.AsDuration()
-	*teamInfo.TimeoutTime = mapTime(timeoutTime)
+	*teamInfo.BotSubstitutionTimeLeft = mapTime(teamState.BotSubstitutionTimeLeft.AsDuration())
 }
 
 func newRefereeMessage() (m *state.Referee) {
@@ -176,6 +176,7 @@ func newTeamInfo() (t *state.Referee_TeamInfo) {
 	t.BotSubstitutionIntent = new(bool)
 	t.BotSubstitutionAllowed = new(bool)
 	t.BotSubstitutionsLeft = new(uint32)
+	t.BotSubstitutionTimeLeft = new(uint32)
 	return
 }
 

internal/app/rcon/server_remotecontrol.go

@@ -154,21 +154,25 @@ func (c *RemoteControlClient) replyWithState(reply *ControllerReply) {
 	robotsOnField := c.gcEngine.TrackerState().NumTeamRobots(*c.team)
 	timeoutTimeLeft := float32(teamState.TimeoutTimeLeft.AsDuration().Seconds())
 	canSubstituteRobot := c.canSubstituteRobot()
+	botSubstitutionsLeft := uint32(*teamState.BotSubstitutionsLeft)
+	botSubstitutionTimeLeft := float32(teamState.BotSubstitutionTimeLeft.AsDuration().Seconds())
 
 	response := &ControllerToRemoteControl{
 		State: &RemoteControlTeamState{
-			Team:               c.team,
-			KeeperId:           teamState.Goalkeeper,
-			AvailableRequests:  availableRequests,
-			ActiveRequests:     activeRequests,
-			EmergencyStopIn:    &emergencyStopIn,
-			TimeoutsLeft:       teamState.TimeoutsLeft,
-			TimeoutTimeLeft:    &timeoutTimeLeft,
-			ChallengeFlagsLeft: teamState.ChallengeFlags,
-			MaxRobots:          teamState.MaxAllowedBots,
-			RobotsOnField:      &robotsOnField,
-			YellowCardsDue:     yellowCardsDue,
-			CanSubstituteRobot: &canSubstituteRobot,
+			Team:                    c.team,
+			KeeperId:                teamState.Goalkeeper,
+			AvailableRequests:       availableRequests,
+			ActiveRequests:          activeRequests,
+			EmergencyStopIn:         &emergencyStopIn,
+			TimeoutsLeft:            teamState.TimeoutsLeft,
+			TimeoutTimeLeft:         &timeoutTimeLeft,
+			ChallengeFlagsLeft:      teamState.ChallengeFlags,
+			MaxRobots:               teamState.MaxAllowedBots,
+			RobotsOnField:           &robotsOnField,
+			YellowCardsDue:          yellowCardsDue,
+			CanSubstituteRobot:      &canSubstituteRobot,
+			BotSubstitutionsLeft:    &botSubstitutionsLeft,
+			BotSubstitutionTimeLeft: &botSubstitutionTimeLeft,
 		},
 		ControllerReply: reply,
 	}