Add test scenario to ensure robots can become striker from being sent…

… a nearby ball

crates/bevyhavior_simulator/src/bin/keeper_returns_after_loser.rs

@@ -16,7 +16,7 @@ use types::roles::Role;
 /// If implemented correctly, the keeper should switch from loser to keeper after a short amount of
 /// time.
 #[scenario]
-fn keeper_never_loser(app: &mut App) {
+fn keeper_returns_after_loser(app: &mut App) {
     app.add_systems(Startup, startup);
     app.add_systems(Update, update);
 }

crates/bevyhavior_simulator/src/bin/striker_from_unseen_ball.rs

@@ -0,0 +1,66 @@
+use bevy::prelude::*;
+
+use linear_algebra::{point, vector, Isometry2, Vector2};
+use scenario::scenario;
+use spl_network_messages::{GameState, PlayerNumber};
+
+use bevyhavior_simulator::{
+    ball::BallResource,
+    game_controller::{GameController, GameControllerCommand},
+    robot::Robot,
+    time::{Ticks, TicksTime},
+};
+use types::{ball_position::SimulatorBallState, roles::Role};
+
+#[scenario]
+fn striker_from_unseen_ball(app: &mut App) {
+    app.add_systems(Startup, startup);
+    app.add_systems(Update, update);
+}
+
+fn startup(
+    mut commands: Commands,
+    mut ball: ResMut<BallResource>,
+    mut game_controller_commands: EventWriter<GameControllerCommand>,
+) {
+    let mut one = Robot::new(PlayerNumber::One);
+    *one.ground_to_field_mut() = Isometry2::from_parts(vector![-2.0, -0.2], 0.0);
+    commands.spawn(one);
+    let mut two = Robot::new(PlayerNumber::Two);
+    // 0.00001 is necessary to avoid #1038 for some reason
+    *two.ground_to_field_mut() = Isometry2::from_parts(vector![0.0, 0.00001], 0.0);
+    commands.spawn(two);
+
+    ball.state = Some(SimulatorBallState {
+        position: point![0.0, -0.3],
+        velocity: Vector2::zeros(),
+    });
+
+    game_controller_commands.send(GameControllerCommand::SetGameState(GameState::Playing));
+}
+
+fn update(
+    game_controller: ResMut<GameController>,
+    time: Res<Time<Ticks>>,
+    robots: Query<&Robot>,
+    mut exit: EventWriter<AppExit>,
+) {
+    if time.ticks() == 40
+        && !robots.iter().any(|robot| {
+            robot.parameters.player_number == PlayerNumber::Two
+                && robot.database.main_outputs.role == Role::Striker
+        })
+    {
+        println!("Error: Two didn't become striker when sent a nearby ball position");
+        exit.send(AppExit::from_code(2));
+    }
+
+    if game_controller.state.hulks_team.score > 0 {
+        println!("Done");
+        exit.send(AppExit::Success);
+    }
+    if time.ticks() >= 10_000 {
+        println!("No goal was scored :(");
+        exit.send(AppExit::from_code(1));
+    }
+}