appendix.adoc

Appendix A: Terminology

Ball Manipulation

Shooting and dribbling is considered as manipulating the ball, the ball accidentally bouncing off the hull is not.

Appendix B: Game States

@startuml
state Halted {
    state Halt {
    }
    state Timeout {
    }
}

state Stopped {
    state Stop {
    }
    state BallPlacement {
    }
    state PrepareKickoff {
    }
    state PreparePenalty {
    }
}

state Running {
    state Run {
    }
    state FreeKick {
    }
    state Kickoff {
    }
    state Penalty {
    }
}

Halt: Robots are not allowed to move
Timeout: Both teams can do what ever they want
Stop: Both teams have to keep distance to the ball
PrepareKickoff: Teams have to move to their sides
BallPlacement: One team places the ball,\nthe other keeps distance to ball
PreparePenalty: Keeper on goal line,\nattacker behind ball,\nother robots on legal positions
Kickoff: One team may kick the ball\nwithin 5 (A) or 10 (B) seconds
FreeKick: One team may kick the ball\nwithin 5 (A) or 10 (B) seconds
Penalty: Execute a penalty kick within 10 seconds
Run: Both teams may manipulate the ball

[*] -> Halt: (from any state) Halt

Halt --> Stop: Stop
Stop --> Timeout: Timeout
Timeout --> Stop: Stop

Stop --> BallPlacement: Ball Placement
BallPlacement --> Stop: Stop
BallPlacement --> FreeKick: Continue

Stop --> PrepareKickoff: PrepareKickoff
PrepareKickoff --> Kickoff: NormalStart
Kickoff --> Run: after x seconds or if ball moved

Stop --> FreeKick: FreeKick
FreeKick --> Run: after x seconds or if ball moved

Stop --> Run: ForceStart

Stop --> PreparePenalty: PreparePenalty
PreparePenalty --> Penalty: NormalStart
Penalty --> Stop: after 10 seconds

Run --> Stop: Stop
@enduml

Appendix C: Game Events

The following game event table is a compilation of the different game events and their consequences. It also lists what all [Automatic Referee] implementations must be capable of handling.

Note	The information shown in this table here may be incomplete. Please read the sections of the respective events for the full definitions.

	Event	Applicability	Consequence	Increments Foul Counter	Initiated By
While Match is Running
	NO_PROGRESS_IN_GAME	ball in play	[Stop] → [Force Start]	no	game controller
	ATTACKER_DOUBLE_TOUCHED_BALL	ball in play	[Stop] → [Free Kick]	no	auto referee
	Ball Leaving the Field
	POSSIBLE_GOAL	ball in play	[Halt]	no	auto referee
	BALL_LEFT_FIELD_TOUCH_LINE	ball in play	[Stop] → [Free Kick]	no	auto referee
	BALL_LEFT_FIELD_GOAL_LINE	ball in play	[Stop] → [Free Kick]	no	auto referee
	AIMLESS_KICK	ball in play	[Stop] → [Free Kick]	no	auto referee
	Fouls
	DEFENDER_IN_DEFENSE_AREA	ball in play	[Stop] → [Penalty Kick]	no	auto referee
	KEEPER_HELD_BALL	ball in play	[Stop] → [Free Kick]	yes	game controller
	BOUNDARY_CROSSING	ball in play	[Stop] → [Free Kick]	yes	auto referee
	BOT_DRIBBLED_BALL_TOO_FAR	ball in play	[Stop] → [Free Kick]	yes	auto referee
	ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA	ball in play	-	yes	auto referee
	BOT_KICKED_BALL_TOO_FAST	ball in play	-	yes	auto referee
	Penalty Kick
	PENALTY_KICK_FAILED	during [Penalty Kick]	[Stop] → [Free Kick]	no	auto referee, game controller
Always
	BOT_CRASH_UNIQUE	always	-	yes	auto referee
	BOT_CRASH_DRAWN	always	-	yes	auto referee
During Free Kick and While Match is Stop
	ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA	during [Stop] and [Free Kick]	[Stop] → [Free Kick]	yes	auto referee
While Match is Stopped
	Fouls
	BOT_TOO_FAST_IN_STOP	during [Stop]	-	yes	auto referee
	DEFENDER_TOO_CLOSE_TO_KICK_POINT	ball out of play	timer for bringing the ball into play is reset	yes	auto referee
	Ball Placement
	BOT_INTERFERED_PLACEMENT	during [Ball Placement]	placement timer increased by 10 seconds	yes	auto referee
	PLACEMENT_SUCCEEDED	during [Ball Placement]	continue	no	auto referee
	PLACEMENT_FAILED by team in favor	during [Ball Placement]	[Stop] → [Free Kick] (div A) / previous command (div B)	no	game controller
	PLACEMENT_FAILED by opponent	during [Ball Placement]	[Stop]	no	game controller
Informational
	MULTIPLE_FOULS	-	[Yellow Card]	no	game controller
	MULTIPLE_CARDS	-	[Red Card]	no	game controller
	TOO_MANY_ROBOTS	-	[Stop]	no	game controller
	INVALID_GOAL	-	[Stop] → [Free Kick]	no	game controller
	BOT_SUBSTITUTION	during [Stop]	[Halt] (after next stoppage), then [Stop]	no	remote control
	CHALLENGE_FLAG	always	-	no	remote control
	EMERGENCY_STOP	always	[Halt] → Timeout + [Yellow Card]	no	remote control
Manual
	GOAL	-	[Stop] → [Kick-Off]	no	human referee
	BOT_PUSHED_BOT	always	[Stop] → [Free Kick]	yes	human referee
	BOT_HELD_BALL_DELIBERATELY	ball in play	[Stop] → [Free Kick]	yes	human referee
	BOT_TIPPED_OVER	always	[Stop] → [Free Kick]	yes	human referee
	UNSPORTING_BEHAVIOR_MINOR	always	[Stop] → [Yellow Card]	no	human referee
	UNSPORTING_BEHAVIOR_MAJOR	always	[Stop] → [Red Card]	no	human referee

A visualized graph of the game events is stored as graphml and can be viewed at yed-live.

Appendix D: Overview of Timings

Situation	Div A Time	Div B Time
Remove robot for [Yellow Card]	10 s	10 s
penalty kick	10 s	10 s
kick-off	10 s	10 s
free kick	5 s	10 s
[Keeper Held Ball] inside [Defense Area]	5 s	10 s
[No Progress In Game]	5 s	10 s

Appendix E: Differences Between Divisions

This is a complete list of differences between division A and division B.

• Division A plays on a larger field with larger goals than division B. As a result, a penalty kick is taken from a greater distance as well.

• Division A plays with more robots than division B.

• The automatic ball placement procedure is mandatory for division A and optional for division B.

• The aimless kick rule only applies to division B.

• Division A has shorter timeouts in some situations.