Implement punishment for excessive bot substitution

See: https://github.com/RoboCup-SSL/ssl-rules/pull/78/files

frontend/src/components/team/BotSubstitutionsInput.vue

@@ -0,0 +1,36 @@
+<script setup lang="ts">
+import {computed, inject} from "vue";
+import NumberInput from "@/components/common/NumberInput.vue";
+import {useMatchStateStore} from "@/store/matchState";
+import type {Team} from "@/proto/ssl_gc_common";
+import type {ControlApi} from "@/providers/controlApi";
+
+const props = defineProps<{
+  team: Team,
+}>()
+
+const store = useMatchStateStore()
+const control = inject<ControlApi>('control-api')
+
+const model = computed(() => {
+  return store.matchState.teamState![props.team].botSubstitutionsLeft!
+})
+
+const updateValue = (value: number | undefined) => {
+  if (value !== undefined) {
+    control?.UpdateTeamState({
+      forTeam: props.team,
+      botSubstitutionsLeft: value,
+    })
+  }
+}
+
+</script>
+
+<template>
+  <NumberInput
+      :modelValue="model"
+      label="Bot substitutions left"
+      @update:model-value="updateValue"
+  />
+</template>

frontend/src/helpers/texts.ts

@@ -119,6 +119,7 @@ export const gameEventNames = new Map<GameEvent_Type, string>([
   [GameEvent_Type.MULTIPLE_CARDS, "Multiple cards"],
   [GameEvent_Type.MULTIPLE_FOULS, "Multiple fouls"],
   [GameEvent_Type.BOT_SUBSTITUTION, "Bot substitution"],
+  [GameEvent_Type.EXCESSIVE_BOT_SUBSTITUTION, "Excessive bot substitution"],
   [GameEvent_Type.TOO_MANY_ROBOTS, "Too many bots on field"],
   [GameEvent_Type.CHALLENGE_FLAG, "Challenge flag"],
   [GameEvent_Type.CHALLENGE_FLAG_HANDLED, "Challenge flag handled"],

frontend/src/proto/ssl_gc_change.ts

@@ -150,6 +150,8 @@ export interface Change_UpdateTeamState {
   canPlaceBall?: boolean;
   /** The number of challenge flags that the team has left */
   challengeFlagsLeft?: number;
+  /** The number of bot substitutions left by the team in this halftime */
+  botSubstitutionsLeft?: number;
   /** Does the team want to substitute a robot in the next possible situation? */
   requestsBotSubstitution?: boolean;
   /** Does the team want to take a timeout in the next possible situation? */
@@ -508,6 +510,7 @@ export const Change_UpdateTeamState = {
       ballPlacementFailures: isSet(object.ballPlacementFailures) ? Number(object.ballPlacementFailures) : undefined,
       canPlaceBall: isSet(object.canPlaceBall) ? Boolean(object.canPlaceBall) : undefined,
       challengeFlagsLeft: isSet(object.challengeFlagsLeft) ? Number(object.challengeFlagsLeft) : undefined,
+      botSubstitutionsLeft: isSet(object.botSubstitutionsLeft) ? Number(object.botSubstitutionsLeft) : undefined,
       requestsBotSubstitution: isSet(object.requestsBotSubstitution)
         ? Boolean(object.requestsBotSubstitution)
         : undefined,
@@ -535,6 +538,7 @@ export const Change_UpdateTeamState = {
     message.ballPlacementFailures !== undefined && (obj.ballPlacementFailures = message.ballPlacementFailures);
     message.canPlaceBall !== undefined && (obj.canPlaceBall = message.canPlaceBall);
     message.challengeFlagsLeft !== undefined && (obj.challengeFlagsLeft = message.challengeFlagsLeft);
+    message.botSubstitutionsLeft !== undefined && (obj.botSubstitutionsLeft = message.botSubstitutionsLeft);
     message.requestsBotSubstitution !== undefined && (obj.requestsBotSubstitution = message.requestsBotSubstitution);
     message.requestsTimeout !== undefined && (obj.requestsTimeout = message.requestsTimeout);
     message.requestsChallenge !== undefined && (obj.requestsChallenge = message.requestsChallenge);

frontend/src/proto/ssl_gc_game_event.ts

@@ -58,6 +58,7 @@ export interface GameEvent {
     | { $case: "multipleCards"; multipleCards: GameEvent_MultipleCards }
     | { $case: "multipleFouls"; multipleFouls: GameEvent_MultipleFouls }
     | { $case: "botSubstitution"; botSubstitution: GameEvent_BotSubstitution }
+    | { $case: "excessiveBotSubstitution"; excessiveBotSubstitution: GameEvent_ExcessiveBotSubstitution }
     | { $case: "tooManyRobots"; tooManyRobots: GameEvent_TooManyRobots }
     | { $case: "challengeFlag"; challengeFlag: GameEvent_ChallengeFlag }
     | { $case: "challengeFlagHandled"; challengeFlagHandled: GameEvent_ChallengeFlagHandled }
@@ -125,6 +126,8 @@ export enum GameEvent_Type {
   BOT_TOO_FAST_IN_STOP = "BOT_TOO_FAST_IN_STOP",
   /** BOT_INTERFERED_PLACEMENT - triggered by autoRef */
   BOT_INTERFERED_PLACEMENT = "BOT_INTERFERED_PLACEMENT",
+  /** EXCESSIVE_BOT_SUBSTITUTION - triggered by GC */
+  EXCESSIVE_BOT_SUBSTITUTION = "EXCESSIVE_BOT_SUBSTITUTION",
   /** POSSIBLE_GOAL - triggered by autoRef */
   POSSIBLE_GOAL = "POSSIBLE_GOAL",
   /** GOAL - triggered by GC */
@@ -244,6 +247,9 @@ export function gameEvent_TypeFromJSON(object: any): GameEvent_Type {
     case 20:
     case "BOT_INTERFERED_PLACEMENT":
       return GameEvent_Type.BOT_INTERFERED_PLACEMENT;
+    case 48:
+    case "EXCESSIVE_BOT_SUBSTITUTION":
+      return GameEvent_Type.EXCESSIVE_BOT_SUBSTITUTION;
     case 39:
     case "POSSIBLE_GOAL":
       return GameEvent_Type.POSSIBLE_GOAL;
@@ -374,6 +380,8 @@ export function gameEvent_TypeToJSON(object: GameEvent_Type): string {
       return "BOT_TOO_FAST_IN_STOP";
     case GameEvent_Type.BOT_INTERFERED_PLACEMENT:
       return "BOT_INTERFERED_PLACEMENT";
+    case GameEvent_Type.EXCESSIVE_BOT_SUBSTITUTION:
+      return "EXCESSIVE_BOT_SUBSTITUTION";
     case GameEvent_Type.POSSIBLE_GOAL:
       return "POSSIBLE_GOAL";
     case GameEvent_Type.GOAL:
@@ -828,6 +836,12 @@ export interface GameEvent_BotSubstitution {
   byTeam?: Team;
 }
 
+/** A foul for excessive bot substitutions */
+export interface GameEvent_ExcessiveBotSubstitution {
+  /** the team that substitutes robots */
+  byTeam?: Team;
+}
+
 /** A challenge flag, requested by a team previously, is flagged */
 export interface GameEvent_ChallengeFlag {
   /** the team that requested the challenge flag */
@@ -990,6 +1004,11 @@ export const GameEvent = {
         ? { $case: "multipleFouls", multipleFouls: GameEvent_MultipleFouls.fromJSON(object.multipleFouls) }
         : isSet(object.botSubstitution)
         ? { $case: "botSubstitution", botSubstitution: GameEvent_BotSubstitution.fromJSON(object.botSubstitution) }
+        : isSet(object.excessiveBotSubstitution)
+        ? {
+          $case: "excessiveBotSubstitution",
+          excessiveBotSubstitution: GameEvent_ExcessiveBotSubstitution.fromJSON(object.excessiveBotSubstitution),
+        }
         : isSet(object.tooManyRobots)
         ? { $case: "tooManyRobots", tooManyRobots: GameEvent_TooManyRobots.fromJSON(object.tooManyRobots) }
         : isSet(object.challengeFlag)
@@ -1166,6 +1185,10 @@ export const GameEvent = {
     message.event?.$case === "botSubstitution" && (obj.botSubstitution = message.event?.botSubstitution
       ? GameEvent_BotSubstitution.toJSON(message.event?.botSubstitution)
       : undefined);
+    message.event?.$case === "excessiveBotSubstitution" &&
+      (obj.excessiveBotSubstitution = message.event?.excessiveBotSubstitution
+        ? GameEvent_ExcessiveBotSubstitution.toJSON(message.event?.excessiveBotSubstitution)
+        : undefined);
     message.event?.$case === "tooManyRobots" && (obj.tooManyRobots = message.event?.tooManyRobots
       ? GameEvent_TooManyRobots.toJSON(message.event?.tooManyRobots)
       : undefined);
@@ -1890,6 +1913,18 @@ export const GameEvent_BotSubstitution = {
   },
 };
 
+export const GameEvent_ExcessiveBotSubstitution = {
+  fromJSON(object: any): GameEvent_ExcessiveBotSubstitution {
+    return { byTeam: isSet(object.byTeam) ? teamFromJSON(object.byTeam) : Team.UNKNOWN };
+  },
+
+  toJSON(message: GameEvent_ExcessiveBotSubstitution): unknown {
+    const obj: any = {};
+    message.byTeam !== undefined && (obj.byTeam = teamToJSON(message.byTeam));
+    return obj;
+  },
+};
+
 export const GameEvent_ChallengeFlag = {
   fromJSON(object: any): GameEvent_ChallengeFlag {
     return { byTeam: isSet(object.byTeam) ? teamFromJSON(object.byTeam) : Team.UNKNOWN };

frontend/src/proto/ssl_gc_referee_message.ts

@@ -465,6 +465,8 @@ export interface Referee_TeamInfo {
   ballPlacementFailuresReached?: boolean;
   /** The team is allowed to substitute one or more robots currently */
   botSubstitutionAllowed?: boolean;
+  /** The number of bot substitutions left by the team in this halftime */
+  botSubstitutionsLeft?: number;
 }
 
 /**
@@ -573,6 +575,7 @@ export const Referee_TeamInfo = {
         ? Boolean(object.ballPlacementFailuresReached)
         : false,
       botSubstitutionAllowed: isSet(object.botSubstitutionAllowed) ? Boolean(object.botSubstitutionAllowed) : false,
+      botSubstitutionsLeft: isSet(object.botSubstitutionsLeft) ? Number(object.botSubstitutionsLeft) : 0,
     };
   },
 
@@ -599,6 +602,7 @@ export const Referee_TeamInfo = {
     message.ballPlacementFailuresReached !== undefined &&
       (obj.ballPlacementFailuresReached = message.ballPlacementFailuresReached);
     message.botSubstitutionAllowed !== undefined && (obj.botSubstitutionAllowed = message.botSubstitutionAllowed);
+    message.botSubstitutionsLeft !== undefined && (obj.botSubstitutionsLeft = Math.round(message.botSubstitutionsLeft));
     return obj;
   },
 };

frontend/src/proto/ssl_gc_state.ts

@@ -231,6 +231,7 @@ export interface TeamInfo {
   requestsEmergencyStopSince?: Date;
   challengeFlags?: number;
   botSubstitutionAllowed?: boolean;
+  botSubstitutionsLeft?: number;
 }
 
 export interface State {
@@ -427,6 +428,7 @@ export const TeamInfo = {
         : undefined,
       challengeFlags: isSet(object.challengeFlags) ? Number(object.challengeFlags) : 0,
       botSubstitutionAllowed: isSet(object.botSubstitutionAllowed) ? Boolean(object.botSubstitutionAllowed) : false,
+      botSubstitutionsLeft: isSet(object.botSubstitutionsLeft) ? Number(object.botSubstitutionsLeft) : 0,
     };
   },
 
@@ -468,6 +470,7 @@ export const TeamInfo = {
       (obj.requestsEmergencyStopSince = message.requestsEmergencyStopSince.toISOString());
     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));
     return obj;
   },
 };

frontend/src/views/TeamSettingsView.vue

@@ -10,6 +10,7 @@ import {useMatchStateStore} from "@/store/matchState";
 import {useGcStateStore} from "@/store/gcState";
 import {teams} from "@/helpers";
 import type {Team} from "@/proto/ssl_gc_common";
+import BotSubstitutionsInput from "@/components/team/BotSubstitutionsInput.vue";
 
 const store = useMatchStateStore()
 const gcStore = useGcStateStore()
@@ -81,6 +82,12 @@ const redCards = (team: Team) => {
         </q-item-section>
       </q-item>
 
+      <q-item v-ripple>
+        <q-item-section>
+          <BotSubstitutionsInput :team="team"/>
+        </q-item-section>
+      </q-item>
+
       <q-item v-ripple clickable @click="() => $router.push(`/team-settings/${team}/details`)">
         <q-item-section class="text-center">
           <q-item-label>{{ fouls(team) }}</q-item-label>

internal/app/config/config.go

@@ -67,6 +67,8 @@ type Game struct {
 	EmergencyStopGracePeriod              time.Duration              `yaml:"emergency-stop-grace-period"`
 	PreparationTimeAfterHalt              time.Duration              `yaml:"preparation-time-after-halt"`
 	PreparationTimeBeforeResume           time.Duration              `yaml:"preparation-time-before-resume"`
+	BotSubstitutionBudget                 int32                      `yaml:"bot-substitution-budget"`
+	BotSubstitutionTime                   time.Duration              `yaml:"bot-substitution-time"`
 }
 
 // Network holds configs for network communication
@@ -200,6 +202,8 @@ func DefaultControllerConfig() (c Controller) {
 	c.Game.EmergencyStopGracePeriod = 10 * time.Second
 	c.Game.PreparationTimeAfterHalt = 10 * time.Second
 	c.Game.PreparationTimeBeforeResume = 2 * time.Second
+	c.Game.BotSubstitutionBudget = 5
+	c.Game.BotSubstitutionTime = 10 * time.Second
 
 	c.Game.Normal.HalfDuration = 5 * time.Minute
 	c.Game.Normal.HalfTimeDuration = 5 * time.Minute

internal/app/config/testdata/config.yaml

@@ -52,6 +52,8 @@ game:
   emergency-stop-grace-period: 10s
   preparation-time-after-halt: 10s
   preparation-time-before-resume: 2s
+  bot-substitution-budget: 5
+  bot-substitution-time: 10s
   normal:
     half-duration: 5m
     half-time-duration: 5m

internal/app/engine/engine.go

@@ -249,6 +249,9 @@ func initializeAddedTeamInfoFields(teamInfo *state.TeamInfo) {
 	if teamInfo.BotSubstitutionAllowed == nil {
 		teamInfo.BotSubstitutionAllowed = new(bool)
 	}
+	if teamInfo.BotSubstitutionsLeft == nil {
+		teamInfo.BotSubstitutionsLeft = new(int32)
+	}
 }
 
 // Stop stops the go routine that processes the change queue
@@ -456,6 +459,7 @@ func (e *Engine) createInitialState() (s *state.State) {
 		s.TeamInfo(team).TimeoutTimeLeft = durationpb.New(e.gameConfig.Normal.TimeoutDuration)
 		*s.TeamInfo(team).MaxAllowedBots = e.gameConfig.MaxBots[e.gameConfig.DefaultDivision]
 		*s.TeamInfo(team).ChallengeFlags = e.gameConfig.ChallengeFlags
+		*s.TeamInfo(team).BotSubstitutionsLeft = e.gameConfig.BotSubstitutionBudget
 	}
 	s.NextCommand = state.NewCommand(state.Command_KICKOFF, *s.FirstKickoffTeam)
 	s.PlacementPos = geom.NewVector2(0.0, 0.0)

internal/app/engine/process_bot_substitution.go

@@ -0,0 +1,25 @@
+package engine
+
+import (
+	"github.com/RoboCup-SSL/ssl-game-controller/internal/app/state"
+	"time"
+)
+
+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))
+			}
+		}
+	}
+}

internal/app/engine/process_continue_perform.go

@@ -44,7 +44,12 @@ func (e *Engine) performContinueAction(action *ContinueAction) {
 			logWillNotContinue("No team for timeout specified")
 		}
 	case ContinueAction_BOT_SUBSTITUTION:
-		e.Enqueue(createBotSubstitutionEventChange(*action.ForTeam))
+		if action.ForTeam.Known() {
+			e.Enqueue(createBotSubstitutionEventChange(*action.ForTeam))
+		} else {
+			e.Enqueue(createBotSubstitutionEventChange(state.Team_YELLOW))
+			e.Enqueue(createBotSubstitutionEventChange(state.Team_BLUE))
+		}
 	case ContinueAction_NEXT_STAGE:
 		e.Enqueue(createStageChange(e.currentState.Stage.Next()))
 	case ContinueAction_END_GAME:

internal/app/engine/process_tick.go

@@ -67,6 +67,7 @@ func (e *Engine) processTick() {
 	e.processProposals()
 	e.processTrackerSources()
 	e.processEmergencyStop()
+	e.processBotSubstitution()
 
 	stateCopy := e.currentState.Clone()
 	hookOut := HookOut{State: stateCopy}

internal/app/publish/messagegenerator.go

@@ -137,6 +137,7 @@ func updateTeam(teamInfo *state.Referee_TeamInfo, teamState *state.TeamInfo) {
 	*teamInfo.MaxAllowedBots = unsigned32(*teamState.MaxAllowedBots)
 	*teamInfo.BotSubstitutionIntent = teamState.RequestsBotSubstitutionSince != nil
 	*teamInfo.BotSubstitutionAllowed = *teamState.BotSubstitutionAllowed
+	*teamInfo.BotSubstitutionsLeft = unsigned32(*teamState.BotSubstitutionsLeft)
 	timeoutTime := teamState.TimeoutTimeLeft.AsDuration()
 	*teamInfo.TimeoutTime = mapTime(timeoutTime)
 }
@@ -174,6 +175,7 @@ func newTeamInfo() (t *state.Referee_TeamInfo) {
 	t.MaxAllowedBots = new(uint32)
 	t.BotSubstitutionIntent = new(bool)
 	t.BotSubstitutionAllowed = new(bool)
+	t.BotSubstitutionsLeft = new(uint32)
 	return
 }