Add current num robots to remote-control protocol

Author: g3force

internal/app/engine/common.go

@@ -55,3 +55,12 @@ func (e *Engine) ballSteady() bool {
 	}
 	return e.gcState.TrackerStateGc.Ball.Vel.ToVector2().Length() < ballSteadyThreshold
 }
+
+func (x *GcStateTracker) NumTeamRobots(team state.Team) (count int32) {
+	for _, robot := range x.Robots {
+		if *robot.Id.Team == team {
+			count++
+		}
+	}
+	return
+}

internal/app/engine/process_botremoved.go

@@ -43,7 +43,7 @@ func (e *Engine) processBotNumberPerTeam(team state.Team) {
 		e.gameConfig.YellowCardDuration-e.gameConfig.YellowCardBotRemovalTime,
 	)
 
-	numBots := numRobotsOfTeam(e.gcState.TrackerStateGc.Robots, team)
+	numBots := e.gcState.TrackerStateGc.NumTeamRobots(team)
 	numBotsAllowed := *teamInfo.MaxAllowedBots + newCards
 	if numBots > numBotsAllowed {
 
@@ -78,12 +78,3 @@ func newActiveYellowCards(cards []*state.YellowCard, minRemaining time.Duration)
 	}
 	return
 }
-
-func numRobotsOfTeam(robots []*Robot, team state.Team) (count int32) {
-	for _, robot := range robots {
-		if *robot.Id.Team == team {
-			count++
-		}
-	}
-	return
-}

internal/app/engine/process_continue.go

@@ -174,7 +174,7 @@ func (e *Engine) posInsideGoal(pos *geom.Vector2) bool {
 
 func (e *Engine) tooManyRobots(team state.Team) bool {
 	maxAllowed := *e.currentState.TeamState[team.String()].MaxAllowedBots
-	current := numRobotsOfTeam(e.gcState.TrackerStateGc.Robots, team)
+	current := e.gcState.TrackerStateGc.NumTeamRobots(team)
 	return current > maxAllowed
 }
 

internal/app/rcon/server_remotecontrol.go

@@ -150,6 +150,7 @@ func (c *RemoteControlClient) replyWithState(reply *ControllerReply) {
 	yellowCardsDue := c.findYellowCardDueTimes()
 	availableRequests := c.findAvailableRequestTypes()
 	activeRequests := c.findActiveRequestTypes()
+	robotsOnField := c.gcEngine.CurrentGcState().TrackerStateGc.NumTeamRobots(*c.team)
 
 	response := &ControllerToRemoteControl{
 		State: &RemoteControlTeamState{
@@ -160,6 +161,7 @@ func (c *RemoteControlClient) replyWithState(reply *ControllerReply) {
 			TimeoutsLeft:       teamState.TimeoutsLeft,
 			ChallengeFlagsLeft: teamState.ChallengeFlags,
 			MaxRobots:          teamState.MaxAllowedBots,
+			RobotsOnField:      &robotsOnField,
 			YellowCardsDue:     yellowCardsDue,
 		},
 		ControllerReply: reply,

internal/app/rcon/ssl_gc_rcon_remotecontrol.pb.go

@@ -81,6 +81,9 @@ message RemoteControlTeamState {
     // max number of robots currently allowed
     optional int32 max_robots = 7;
 
+    // current number of robots visible on field
+    optional int32 robots_on_field = 9;
+
     // list of due times for each active yellow card (in seconds)
     repeated float yellow_cards_due = 8;
 }