[feature] Add a new game event for bot substitution

Author: g3force

internal/app/controller/engine.go

@@ -86,9 +86,15 @@ func (e *Engine) UndoLastAction() {
 }
 
 func (e *Engine) Continue() {
-	if e.State.BotSubstitutionIntend() {
+	substitutionIntend := e.State.BotSubstitutionIntend()
+	if substitutionIntend != TeamUnknown {
 		e.State.TeamState[TeamBlue].BotSubstitutionIntend = false
 		e.State.TeamState[TeamYellow].BotSubstitutionIntend = false
+		teamProto := substitutionIntend.toProto()
+		e.AddGameEvent(GameEvent{
+			Type: GameEventBotSubstitution,
+			Details: GameEventDetails{
+				BotSubstitution: &refproto.GameEvent_BotSubstitution{ByTeam: &teamProto}}})
 		e.SendCommand(CommandHalt, "")
 	} else if e.State.NextCommand != CommandUnknown {
 		e.SendCommand(e.State.NextCommand, e.State.NextCommandFor)

internal/app/controller/gameEvent.go

@@ -18,6 +18,7 @@ const (
 	GameEventPlacementFailedByTeamInFavor GameEventType = "placementFailedByTeamInFavor"
 	GameEventPlacementFailedByOpponent    GameEventType = "placementFailedByOpponent"
 	GameEventPlacementSucceeded           GameEventType = "placementSucceeded"
+	GameEventBotSubstitution              GameEventType = "gameEventBotSubstitution"
 
 	GameEventBallLeftFieldTouchLine GameEventType = "ballLeftFieldTouchLine"
 	GameEventBallLeftFieldGoalLine  GameEventType = "ballLeftFieldGoalLine"
@@ -286,6 +287,8 @@ func (e GameEvent) ToProto() *refproto.GameEvent {
 		protoEvent.Event = &refproto.GameEvent_PlacementSucceeded_{PlacementSucceeded: e.Details.PlacementSucceeded}
 	case GameEventPrepared:
 		protoEvent.Event = &refproto.GameEvent_Prepared_{Prepared: e.Details.Prepared}
+	case GameEventBotSubstitution:
+		protoEvent.Event = &refproto.GameEvent_BotSubstitution_{BotSubstitution: e.Details.BotSubstitution}
 	default:
 		log.Printf("Warn: Could not map game e %v", e.Type)
 		return nil
@@ -331,6 +334,7 @@ type GameEventDetails struct {
 	PlacementFailedByOpponent      *refproto.GameEvent_PlacementFailedByOpponent      `json:"placementFailedByOpponent,omitempty"`
 	PlacementSucceeded             *refproto.GameEvent_PlacementSucceeded             `json:"placementSucceeded,omitempty"`
 	Prepared                       *refproto.GameEvent_Prepared                       `json:"prepared,omitempty"`
+	BotSubstitution                *refproto.GameEvent_BotSubstitution                `json:"botSubstitution,omitempty"`
 }
 
 func (d GameEventDetails) EventType() GameEventType {
@@ -442,6 +446,9 @@ func (d GameEventDetails) EventType() GameEventType {
 	if d.Prepared != nil {
 		return GameEventPrepared
 	}
+	if d.BotSubstitution != nil {
+		return GameEventBotSubstitution
+	}
 	return GameEventNone
 }
 
@@ -638,6 +645,9 @@ func (d GameEventDetails) Description() string {
 	if d.Prepared != nil {
 		return ""
 	}
+	if d.BotSubstitution != nil {
+		return ""
+	}
 	return ""
 }
 
@@ -678,5 +688,6 @@ func NewGameEventDetails(event refproto.GameEvent) (d GameEventDetails) {
 	d.PlacementFailedByOpponent = event.GetPlacementFailedByOpponent()
 	d.PlacementSucceeded = event.GetPlacementSucceeded()
 	d.Prepared = event.GetPrepared()
+	d.BotSubstitution = event.GetBotSubstitution()
 	return
 }

internal/app/controller/state.go

@@ -17,6 +17,8 @@ const (
 	TeamBlue Team = "Blue"
 	// TeamUnknown is an unknown team
 	TeamUnknown Team = ""
+	// TeamBoth are both teams
+	TeamBoth = "Both"
 )
 
 // Opposite returns the other team
@@ -45,6 +47,8 @@ func (t Team) toProto() refproto.Team {
 		return refproto.Team_YELLOW
 	} else if t == TeamBlue {
 		return refproto.Team_BLUE
+	} else if t == TeamBoth {
+		return refproto.Team_BOTH
 	}
 	return refproto.Team_UNKNOWN
 }
@@ -334,8 +338,17 @@ func (s State) GameState() GameState {
 	return ""
 }
 
-func (s State) BotSubstitutionIntend() bool {
-	return s.TeamState[TeamYellow].BotSubstitutionIntend || s.TeamState[TeamBlue].BotSubstitutionIntend
+func (s State) BotSubstitutionIntend() Team {
+	if s.TeamState[TeamYellow].BotSubstitutionIntend && s.TeamState[TeamBlue].BotSubstitutionIntend {
+		return TeamBoth
+	}
+	if s.TeamState[TeamYellow].BotSubstitutionIntend {
+		return TeamYellow
+	}
+	if s.TeamState[TeamBlue].BotSubstitutionIntend {
+		return TeamBlue
+	}
+	return TeamUnknown
 }
 
 func newTeamInfo() (t TeamInfo) {

pkg/refproto/ssl_game_controller_common.pb.go

@@ -8,6 +8,8 @@ enum Team {
     YELLOW = 1;
     // blue team
     BLUE = 2;
+    // both teams
+    BOTH = 3;
 }
 
 // BotId is the combination of a team and a robot id