Require explicit rejection of possible goals

RoboCup-SSL · Jul 5, 2024 · fcb5e3a · fcb5e3a
1 parent c1285ce
commit fcb5e3a
Show file tree

Hide file tree

Showing 7 changed files with 63 additions and 21 deletions.
diff --git a/frontend/src/helpers/texts.ts b/frontend/src/helpers/texts.ts
@@ -176,6 +176,8 @@ export function continueActionLabel(type: ContinueAction_Type, nextCommand?: Com
       return 'End match'
     case ContinueAction_Type.ACCEPT_GOAL:
       return 'Accept Goal'
+    case ContinueAction_Type.REJECT_GOAL:
+      return 'Reject Goal'
     case ContinueAction_Type.NORMAL_START:
       return 'Normal Start'
     case ContinueAction_Type.CHALLENGE_ACCEPT:

diff --git a/frontend/src/proto/ssl_gc_engine.ts b/frontend/src/proto/ssl_gc_engine.ts
@@ -153,6 +153,7 @@ export enum ContinueAction_Type {
   NEXT_STAGE = "NEXT_STAGE",
   END_GAME = "END_GAME",
   ACCEPT_GOAL = "ACCEPT_GOAL",
+  REJECT_GOAL = "REJECT_GOAL",
   NORMAL_START = "NORMAL_START",
   CHALLENGE_ACCEPT = "CHALLENGE_ACCEPT",
   CHALLENGE_REJECT = "CHALLENGE_REJECT",
@@ -212,6 +213,9 @@ export function continueAction_TypeFromJSON(object: any): ContinueAction_Type {
     case 12:
     case "ACCEPT_GOAL":
       return ContinueAction_Type.ACCEPT_GOAL;
+    case 20:
+    case "REJECT_GOAL":
+      return ContinueAction_Type.REJECT_GOAL;
     case 13:
     case "NORMAL_START":
       return ContinueAction_Type.NORMAL_START;
@@ -264,6 +268,8 @@ export function continueAction_TypeToJSON(object: ContinueAction_Type): string {
       return "END_GAME";
     case ContinueAction_Type.ACCEPT_GOAL:
       return "ACCEPT_GOAL";
+    case ContinueAction_Type.REJECT_GOAL:
+      return "REJECT_GOAL";
     case ContinueAction_Type.NORMAL_START:
       return "NORMAL_START";
     case ContinueAction_Type.CHALLENGE_ACCEPT:

diff --git a/internal/app/engine/process_continue_next_action.go b/internal/app/engine/process_continue_next_action.go
@@ -126,6 +126,16 @@ func (e *Engine) actionsToContinueFromStop() (actions []*ContinueAction, hints [
 			actions = append(actions, continueActionAcceptGoal)
 		}
 
+		if e.currentState.HasGameEventByTeam(state.GameEvent_POSSIBLE_GOAL, team) &&
+			!e.currentState.HasGameEventByTeam(state.GameEvent_INVALID_GOAL, team) {
+			continueActionRejectGoal := createContinueAction(
+				ContinueAction_REJECT_GOAL,
+				team,
+				ContinueAction_READY_MANUAL,
+			)
+			actions = append(actions, continueActionRejectGoal)
+		}
+
 		challengeFlagsRaised := len(e.currentState.FindGameEventsByTeam(state.GameEvent_CHALLENGE_FLAG, team))
 		challengeFlagsHandled := len(e.currentState.FindGameEventsByTeam(state.GameEvent_CHALLENGE_FLAG_HANDLED, team))
 

diff --git a/internal/app/engine/process_continue_perform.go b/internal/app/engine/process_continue_perform.go
@@ -72,6 +72,23 @@ func (e *Engine) performContinueAction(action *ContinueAction) {
 		} else {
 			log.Println("No possible goal event present to accept")
 		}
+	case ContinueAction_REJECT_GOAL:
+		possibleGoals := e.currentState.FindGameEventsByTeam(state.GameEvent_POSSIBLE_GOAL, *action.ForTeam)
+		if len(possibleGoals) == 1 {
+			possibleGoal := possibleGoals[0]
+			goal := state.GameEvent_Goal{}
+			proto.Merge(&goal, possibleGoal.GetPossibleGoal())
+			goal.Message = new(string)
+			*goal.Message = "Rejected by GC operator"
+			goalEvent := &state.GameEvent{
+				Event: &state.GameEvent_InvalidGoal{
+					InvalidGoal: &goal,
+				},
+			}
+			e.Enqueue(createGameEventChange(state.GameEvent_INVALID_GOAL, goalEvent))
+		} else {
+			log.Println("No possible goal event present to reject")
+		}
 	case ContinueAction_NORMAL_START:
 		e.Enqueue(createCommandChange(state.NewCommandNeutral(state.Command_NORMAL_START)))
 	case ContinueAction_CHALLENGE_ACCEPT:

diff --git a/internal/app/engine/ssl_gc_engine.pb.go b/internal/app/engine/ssl_gc_engine.pb.go
diff --git a/internal/app/statemachine/change_gameevent.go b/internal/app/statemachine/change_gameevent.go
@@ -349,7 +349,6 @@ func (s *StateMachine) nextCommandForEvent(newState *state.State, gameEvent *sta
 		state.GameEvent_BOT_DRIBBLED_BALL_TOO_FAR,
 		state.GameEvent_ATTACKER_DOUBLE_TOUCHED_BALL,
 		state.GameEvent_PENALTY_KICK_FAILED,
-		state.GameEvent_POSSIBLE_GOAL,
 		state.GameEvent_INVALID_GOAL:
 		return lastCommandOnUnknownTeam(
 			newState.NextCommand,
@@ -392,6 +391,9 @@ func (s *StateMachine) nextCommandForEvent(newState *state.State, gameEvent *sta
 			newState.NextCommand,
 			state.NewCommand(state.Command_DIRECT, gameEvent.ByTeam().Opposite()),
 		)
+	case state.GameEvent_POSSIBLE_GOAL:
+		// explicitly no next command. GCO has to accept or reject the goal.
+		return nil
 	default:
 		return newState.NextCommand
 	}

diff --git a/proto/ssl_gc_engine.proto b/proto/ssl_gc_engine.proto
@@ -130,6 +130,7 @@ message ContinueAction {
         NEXT_STAGE = 8;
         END_GAME = 16;
         ACCEPT_GOAL = 12;
+        REJECT_GOAL = 20;
         NORMAL_START = 13;
         CHALLENGE_ACCEPT = 18;
         CHALLENGE_REJECT = 19;