combine exploration and production phase and support markerless gameplay

[TarikViehmann]

This PR implements the changes required for robocup-logistics/rcll-rulebook#50 and should be merged only if the rule changes are accepted.
It takes care about 2 major things:

1. Markerless Machine Reporting

If a team decides to play without AR Tags, then they need to be able to report machines based on the type, zone and rotation. This will be possible through minor changes to the MachineReport messages:
1. The name is not a required field anymore in the reported machine, instead a type might be provided.

rcll-refbox/src/msgs/MachineReport.proto

Lines 54 to 59 in bdd9069

	// Machine name and recognized type
	// and zone the machine is in
	optional string name = 1;
	optional string type = 2;
	optional Zone zone = 3;
	optional uint32 rotation = 4; // [0-360] in deg

2. The MachineReportInfo that is returned will now contain feedback about a machine name and the belonging team, if a report with a correct type + zone was received

rcll-refbox/src/msgs/MachineReport.proto

Lines 95 to 114 in bdd9069

	// Responses to reports that were received by the refbox and
	// that contained machine types and zones
	repeated MachineTypeFeedback reported_types = 3;
	}
	message MachineTypeFeedback {
	enum CompType {
	COMP_ID = 2000;
	MSG_TYPE = 63;
	}
	// Feedback about whether a reported type in a zone is correct
	// "name" and "team_color" are only set if the reported type is
	// located in the zone and if the number of reported types did not
	// exceed the number of machines with the types
	required string type = 1;
	required Zone zone = 2;
	optional string name = 3;
	optional Team team_color = 4;
	}

The procedure to report a machine based on the machine type is now:

1. Report type + zone (this does not give any points)
2. Retrieve name + team
3. Report name + zone + rotation (or use symmetry to report the machine if the retrieved name belongs to the opposing team)
   . This gives the usual points for machine reports.

Therefore, the refbox distinguishes between reports where the name is set and those, where the name is not set, but the type and the zone is set.
As before, once information about a machine name (zone, orientation) is reported, all attempts to re-report that info are ignored.
For reports only containing a machine type similar measurements are taken to prevent abuse by spamming report attempts:

• Wrong reports about a machine type in a zone lead to a point deduction of the same amount as a wrongly reported zone would give. This prevents that teams can "probe" for a correct zone, even tho they know the machine name (because they play with tags) by first reporting a machine type in that zone before actually reporting using the name.
• The number of attempts to report a machine type is limited to the number of machines of that type that belong to the reporting team, further reports towards that machine type are ignored.

  rcll-refbox/src/games/rcll/exploration.clp

  Lines 11 to 19 in ac99f29

  	(deffunction type-can-be-reported (?type ?team)
  	(bind ?num-reported-types (length$ (find-all-facts ((?exp exploration-report))
  	(and (eq ?exp:team ?team)
  	(eq ?exp:type ?type) (eq ?exp:rtype RECORD)
  	)
  	)))
  	(bind ?num-machines-of-type (length$ (find-all-facts ((?m machine)) (and (eq ?m:mtype ?type) (eq ?m:team ?team)))))
  	(return (< ?num-reported-types ?num-machines-of-type))
  	)

• Attempts to report a machine by its name are ignored, if the number of previously reported machines from that type are not exceeding the actual available machines (not counting successful type-reports, those are already limited through the point above).

  rcll-refbox/src/games/rcll/exploration.clp

  Lines 21 to 34 in ac99f29

  	(deffunction machine-can-be-reported (?type ?team)
  	(bind ?num-reported-types (length$ (find-all-facts ((?exp exploration-report))
  	(or (and (eq ?exp:team ?team)
  	(eq ?exp:type ?type)
  	(eq ?exp:rtype RECORD)
  	(eq ?exp:type-state WRONG_REPORT))
  	(and (str-index (str-cat ?type) (str-cat ?exp:name))
  	(eq ?exp:team ?team)
  	(eq ?exp:rtype RECORD))
  	)
  	)))
  	(bind ?num-machines-of-type (length$ (find-all-facts ((?m machine)) (and (eq ?m:mtype ?type) (eq ?m:team ?team)))))
  	(return (< ?num-reported-types ?num-machines-of-type))
  	)

  
  To give a few example scenarios, where C-CS1 is at C_Z22 and C-CS2 is at C_Z44:
• report CS in M_Z22 -> report C-CS1 in C_Z22 -> report CS in C_Z44 -> report C-CS2 in C_Z44. This results in 2 correct zone reports (+2 for the 2 correct partial reports)
• report CS in M_Z55 -> wrong zone report -> report CS in C_Z44 -> report C-CS2 in C_Z44. This results in 1 correct zone report (+1), one deduction for a wrong zone report (-1), all further attempts to report the machine C-CS1 are ignored, but the team could still report the type CS once, which would lead to either of the two scenarios:
  • either report CS in a correct zone, e.g., C_Z22 (feedback that C-CS1 is in that zone is given, but no points are awarded and reports about C-CS1 are still ignored)
  • or report CS in a wrong zone, e.g., C_Z23 (-1 point for a wrong zone report is given)
  • in either case, all further reports for C-CS1 or reports for type CS are ignored.
• report CS in M_Z55 -> wrong zone report -> report CS in C_Z66 -> wrong zone report. This results in 0 correct reports, deductions for the two wrongly reported zones (-2), all further attempts to report the machine C-CS1, C-CS2 or a machine of type CS are ignored.

2. Combined Exploration + Production

A regular production phase now spans 20 minutes. If a machine is fully correctly reported, it can be used for production right away (before minute 3). Machine positions are only revealed after 3 minutes, which is also where all machines become usable for production (even if they were not or wrongly reported before).
The refbox also will switch from Setup to Production instead of Exploration now after 5 minutes of Setup.

[teamsolidus]

1

[snoato]

Thanks for the hard work integrating the changes in the refbox quickly! Only a few minor comments and suggestions.