Suggest alternating penalty kick in shootout

Author: g3force

frontend/src/proto/ssl_gc_state.ts

@@ -248,13 +248,18 @@ export interface State {
   firstKickoffTeam?: Team;
   matchType?: MatchType;
   readyContinueTime?: Date;
+  shootoutState?: ShootoutState;
 }
 
 export interface State_TeamStateEntry {
   key: string;
   value?: TeamInfo;
 }
 
+export interface ShootoutState {
+  nextTeam?: Team;
+}
+
 export const YellowCard = {
   fromJSON(object: any): YellowCard {
     return {
@@ -486,6 +491,7 @@ export const State = {
       firstKickoffTeam: isSet(object.firstKickoffTeam) ? teamFromJSON(object.firstKickoffTeam) : Team.UNKNOWN,
       matchType: isSet(object.matchType) ? matchTypeFromJSON(object.matchType) : MatchType.UNKNOWN_MATCH,
       readyContinueTime: isSet(object.readyContinueTime) ? fromJsonTimestamp(object.readyContinueTime) : undefined,
+      shootoutState: isSet(object.shootoutState) ? ShootoutState.fromJSON(object.shootoutState) : undefined,
     };
   },
 
@@ -528,6 +534,8 @@ export const State = {
     message.firstKickoffTeam !== undefined && (obj.firstKickoffTeam = teamToJSON(message.firstKickoffTeam));
     message.matchType !== undefined && (obj.matchType = matchTypeToJSON(message.matchType));
     message.readyContinueTime !== undefined && (obj.readyContinueTime = message.readyContinueTime.toISOString());
+    message.shootoutState !== undefined &&
+      (obj.shootoutState = message.shootoutState ? ShootoutState.toJSON(message.shootoutState) : undefined);
     return obj;
   },
 };
@@ -548,6 +556,18 @@ export const State_TeamStateEntry = {
   },
 };
 
+export const ShootoutState = {
+  fromJSON(object: any): ShootoutState {
+    return { nextTeam: isSet(object.nextTeam) ? teamFromJSON(object.nextTeam) : Team.UNKNOWN };
+  },
+
+  toJSON(message: ShootoutState): unknown {
+    const obj: any = {};
+    message.nextTeam !== undefined && (obj.nextTeam = teamToJSON(message.nextTeam));
+    return obj;
+  },
+};
+
 function fromTimestamp(t: Timestamp): Date {
   let millis = t.seconds * 1_000;
   millis += t.nanos / 1_000_000;

internal/app/state/ssl_gc_state.pb.go

@@ -60,6 +60,16 @@ func (s *StateMachine) processChangeNewCommand(newState *state.State, newCommand
 		newState.NextCommand = nil
 	}
 
+	if *newState.Stage == state.Referee_PENALTY_SHOOTOUT &&
+		newState.ShootoutState != nil {
+		if *newCommand.Command.Type == state.Command_NORMAL_START {
+			*newState.ShootoutState.NextTeam = newState.ShootoutState.NextTeam.Opposite()
+		} else if *newState.GameState.Type == state.GameState_STOP {
+			forTeam := *newState.ShootoutState.NextTeam
+			newState.NextCommand = state.NewCommand(state.Command_PENALTY, forTeam)
+		}
+	}
+
 	return
 }
 

internal/app/statemachine/change_command.go

@@ -354,16 +354,10 @@ func (s *StateMachine) nextCommandForEvent(newState *state.State, gameEvent *sta
 		state.GameEvent_PENALTY_KICK_FAILED,
 		state.GameEvent_POSSIBLE_GOAL,
 		state.GameEvent_INVALID_GOAL:
-		if *newState.Stage == state.Referee_PENALTY_SHOOTOUT {
-			return state.NewCommand(state.Command_PENALTY, gameEvent.ByTeam().Opposite())
-		}
 		return state.NewCommand(state.Command_DIRECT, gameEvent.ByTeam().Opposite())
 	case state.GameEvent_DEFENDER_IN_DEFENSE_AREA:
 		return state.NewCommand(state.Command_PENALTY, gameEvent.ByTeam().Opposite())
 	case state.GameEvent_GOAL:
-		if *newState.Stage == state.Referee_PENALTY_SHOOTOUT {
-			return state.NewCommand(state.Command_PENALTY, gameEvent.ByTeam().Opposite())
-		}
 		return state.NewCommand(state.Command_KICKOFF, gameEvent.ByTeam().Opposite())
 	case state.GameEvent_NO_PROGRESS_IN_GAME,
 		state.GameEvent_TOO_MANY_ROBOTS:

internal/app/statemachine/change_gameevent.go

@@ -59,6 +59,12 @@ func (s *StateMachine) proceedStage(newState *state.State, newStage state.Refere
 		newState.PlacementPos = geom.NewVector2(0.0, 0.0)
 	}
 
+	if newStage == state.Referee_PENALTY_SHOOTOUT {
+		newState.ShootoutState = &state.ShootoutState{
+			NextTeam: newState.FirstKickoffTeam,
+		}
+	}
+
 	// Reset game events and proposals
 	newState.ProposalGroups = nil
 	newState.GameEvents = nil
@@ -75,8 +81,6 @@ func (s *StateMachine) getNextCommandForStage(newState *state.State, stage state
 		return state.NewCommand(state.Command_KICKOFF, *newState.FirstKickoffTeam)
 	case state.Referee_NORMAL_SECOND_HALF_PRE, state.Referee_EXTRA_SECOND_HALF_PRE:
 		return state.NewCommand(state.Command_KICKOFF, newState.FirstKickoffTeam.Opposite())
-	case state.Referee_PENALTY_SHOOTOUT:
-		return state.NewCommand(state.Command_PENALTY, *newState.FirstKickoffTeam)
 	default:
 		return nil
 	}

internal/app/statemachine/change_stage.go

@@ -116,4 +116,9 @@ message State {
     optional Team first_kickoff_team = 17;
     optional MatchType match_type = 18;
     optional google.protobuf.Timestamp ready_continue_time = 20;
+    optional ShootoutState shootout_state = 21;
+}
+
+message ShootoutState {
+    optional Team next_team = 1;
 }