added SystemTime as an option

HULKs · Apr 18, 2024 · 4311a0c · 4311a0c
1 parent e26b637
commit 4311a0c
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Showing 4 changed files with 18 additions and 29 deletions.
diff --git a/crates/control/src/behavior/dribble.rs b/crates/control/src/behavior/dribble.rs
@@ -99,24 +99,21 @@ fn is_kick_pose_reached(
     is_x_reached && is_y_reached && is_orientation_reached
 }
 
-pub fn precision_kick(game_controller_state: Option<FilteredGameControllerState>, precision_kick_timeout: u8) -> bool {
-    let game_controller_state = game_controller_state.unwrap_or(FilteredGameControllerState {
-        last_game_state_change: SystemTime::now(),
-        game_state: Default::default(),
-        opponent_game_state: Default::default(),
-        game_phase: Default::default(),
-        kicking_team: Default::default(),
-        penalties: Default::default(),
-        remaining_number_of_messages: Default::default(),
-        sub_state: Default::default(),
-        own_team_is_home_after_coin_toss: Default::default(),
-    });
+pub fn precision_kick(
+    game_controller_state: Option<FilteredGameControllerState>,
+    precision_kick_timeout: u8,
+) -> bool {
+    let game_controller_state = game_controller_state.unwrap_or_default();
 
     let now = SystemTime::now();
-    let time_difference = game_controller_state
-        .last_game_state_change
-        .duration_since(now)
-        .expect("time ran backwords");
+    let time_difference = game_controller_state.last_game_state_change.map_or(
+        Duration::new(0, 0),
+        |last_game_state_change| {
+            last_game_state_change
+                .duration_since(now)
+                .expect("time ran backwords")
+        },
+    );
 
     let penalty_shootout = matches!(
         game_controller_state.game_phase,

diff --git a/crates/control/src/game_controller_state_filter.rs b/crates/control/src/game_controller_state_filter.rs
@@ -73,8 +73,7 @@ impl GameControllerStateFilter {
             own_team_is_home_after_coin_toss: context
                 .game_controller_state
                 .hulks_team_is_home_after_coin_toss,
-            last_game_state_change: context.game_controller_state.last_game_state_change,
-
+            last_game_state_change: Some(context.game_controller_state.last_game_state_change),
         };
         Ok(MainOutputs {
             filtered_game_controller_state: Some(filtered_game_controller_state).into(),

diff --git a/crates/types/src/filtered_game_controller_state.rs b/crates/types/src/filtered_game_controller_state.rs
@@ -6,7 +6,7 @@ use spl_network_messages::{GamePhase, Penalty, SubState, Team};
 
 use crate::{filtered_game_state::FilteredGameState, players::Players};
 
-#[derive(Clone, Copy, Debug, Serialize, Deserialize, SerializeHierarchy)]
+#[derive(Default, Clone, Copy, Debug, Serialize, Deserialize, SerializeHierarchy)]
 pub struct FilteredGameControllerState {
     pub game_state: FilteredGameState,
     pub opponent_game_state: FilteredGameState,
@@ -16,5 +16,5 @@ pub struct FilteredGameControllerState {
     pub remaining_number_of_messages: u16,
     pub sub_state: Option<SubState>,
     pub own_team_is_home_after_coin_toss: bool,
-    pub last_game_state_change: SystemTime,
+    pub last_game_state_change: Option<SystemTime>,
 }
diff --git a/tools/behavior_simulator/src/state.rs b/tools/behavior_simulator/src/state.rs
@@ -2,7 +2,7 @@ use std::{
     collections::{BTreeMap, HashMap},
     f32::consts::FRAC_PI_4,
     mem::take,
-    time::{Duration, SystemTime, UNIX_EPOCH},
+    time::{Duration, UNIX_EPOCH},
 };
 
 use color_eyre::Result;
@@ -241,14 +241,7 @@ impl State {
             robot.database.main_outputs.filtered_game_controller_state =
                 Some(FilteredGameControllerState {
                     game_state: self.filtered_game_state,
-                    last_game_state_change: SystemTime::now(),
-                    opponent_game_state: Default::default(),
-                    game_phase: Default::default(),
-                    kicking_team: Default::default(),
-                    penalties: Default::default(),
-                    remaining_number_of_messages: Default::default(),
-                    sub_state: Default::default(),
-                    own_team_is_home_after_coin_toss: Default::default(),
+                    ..Default::default()
                 });
             robot.database.main_outputs.game_controller_state = Some(self.game_controller_state);