Show current number of bots on field

Author: g3force

internal/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;
 }

proto/ssl_gc_rcon_remotecontrol.proto

@@ -5,13 +5,15 @@ import {inject, ref} from 'vue';
 const defaultYellowCardsDue: number[] = []
 const online = ref(false)
 const maxRobots = ref(0)
+const numRobots = ref(0)
 const yellowCardsDue = ref(defaultYellowCardsDue)
 const api = inject<ApiController>('api')
 let onlineTimer: NodeJS.Timeout
 
 api?.RegisterStateConsumer((s) => {
   online.value = true
   maxRobots.value = s.maxRobots
+  numRobots.value = s.robotsOnField
   yellowCardsDue.value = s.yellowCardsDue.sort((a: number, b: number) => a - b)
   if (onlineTimer) {
     clearTimeout(onlineTimer)
@@ -30,7 +32,7 @@ api?.RegisterStateConsumer((s) => {
     </div>
     <div class="right-bar-element online-state" :class="{online: online, offline: !online}"/>
     <div class="right-bar-element">
-      Max robots: <strong>{{ maxRobots }}</strong>
+      Robots: <strong>{{ numRobots }}</strong> / <strong>{{ maxRobots }}</strong>
     </div>
   </div>
 </template>

src/components/StatusBar.vue

@@ -158,6 +158,8 @@ export interface RemoteControlTeamState {
   challengeFlagsLeft: number;
   /** max number of robots currently allowed */
   maxRobots: number;
+  /** current number of robots visible on field */
+  robotsOnField: number;
   /** list of due times for each active yellow card (in seconds) */
   yellowCardsDue: number[];
 }
@@ -560,6 +562,7 @@ const baseRemoteControlTeamState: object = {
   timeoutsLeft: 0,
   challengeFlagsLeft: 0,
   maxRobots: 0,
+  robotsOnField: 0,
   yellowCardsDue: 0,
 };
 
@@ -593,6 +596,9 @@ export const RemoteControlTeamState = {
     if (message.maxRobots !== 0) {
       writer.uint32(56).int32(message.maxRobots);
     }
+    if (message.robotsOnField !== 0) {
+      writer.uint32(72).int32(message.robotsOnField);
+    }
     writer.uint32(66).fork();
     for (const v of message.yellowCardsDue) {
       writer.float(v);
@@ -649,6 +655,9 @@ export const RemoteControlTeamState = {
         case 7:
           message.maxRobots = reader.int32();
           break;
+        case 9:
+          message.robotsOnField = reader.int32();
+          break;
         case 8:
           if ((tag & 7) === 2) {
             const end2 = reader.uint32() + reader.pos;
@@ -696,6 +705,10 @@ export const RemoteControlTeamState = {
       object.maxRobots !== undefined && object.maxRobots !== null
         ? Number(object.maxRobots)
         : 0;
+    message.robotsOnField =
+      object.robotsOnField !== undefined && object.robotsOnField !== null
+        ? Number(object.robotsOnField)
+        : 0;
     message.yellowCardsDue = (object.yellowCardsDue ?? []).map((e: any) =>
       Number(e)
     );
@@ -726,6 +739,8 @@ export const RemoteControlTeamState = {
     message.challengeFlagsLeft !== undefined &&
       (obj.challengeFlagsLeft = message.challengeFlagsLeft);
     message.maxRobots !== undefined && (obj.maxRobots = message.maxRobots);
+    message.robotsOnField !== undefined &&
+      (obj.robotsOnField = message.robotsOnField);
     if (message.yellowCardsDue) {
       obj.yellowCardsDue = message.yellowCardsDue.map((e) => e);
     } else {
@@ -745,6 +760,7 @@ export const RemoteControlTeamState = {
     message.timeoutsLeft = object.timeoutsLeft ?? 0;
     message.challengeFlagsLeft = object.challengeFlagsLeft ?? 0;
     message.maxRobots = object.maxRobots ?? 0;
+    message.robotsOnField = object.robotsOnField ?? 0;
     message.yellowCardsDue = (object.yellowCardsDue ?? []).map((e) => e);
     return message;
   },

src/proto/ssl_gc_rcon_remotecontrol.ts

@@ -20,6 +20,7 @@ export class ApiController {
         yellowCardsDue: [120, 100.111],
         keeperId: 1,
         maxRobots: 11,
+        robotsOnField: 9,
         challengeFlagsLeft: 3,
         emergencyStopIn: 3,
         timeoutsLeft: 4,

src/services/ApiController.ts

@@ -5,7 +5,6 @@ import router from '../router';
 import {
   RemoteControlTeamState,
   RemoteControlRequestType,
-  RemoteControlToController_Request
 } from '../proto/ssl_gc_rcon_remotecontrol';
 import {ApiController} from '../services/ApiController';
 import {computed, inject, ref} from 'vue';
@@ -22,6 +21,16 @@ const canRequestRobotSubstitution = computed(() => state.value.availableRequests
 const emergencyStopRequested = computed(() => state.value.activeRequests.includes(RemoteControlRequestType.EMERGENCY_STOP))
 const timeoutRequested = computed(() => state.value.activeRequests.includes(RemoteControlRequestType.TIMEOUT))
 const robotSubstitutionRequested = computed(() => state.value.activeRequests.includes(RemoteControlRequestType.ROBOT_SUBSTITUTION))
+const robotDiff = computed(() => {
+  const diff = state.value.maxRobots - state.value.robotsOnField
+  if (diff > 0) {
+    return `Add ${diff} more`
+  }
+  if (diff < 0) {
+    return `Remove ${diff}`
+  }
+  return ''
+})
 
 const requestChallengeFlag = () => router.push('/confirm-challenge-flag')
 const requestEmergencyStop = (request: boolean) => api?.Send({
@@ -82,6 +91,7 @@ const requestRobotSubstitution = (request: boolean) => api?.Send({
       :requested="robotSubstitutionRequested"
       text="Robot Substitution"
       text-requested="Cancel Robot Substitution"
+      :text-additional="robotDiff"
       @request="requestRobotSubstitution"
     />
   </div>