Adding standby state before ready (#153)

SPL-Rules.tex

@@ -67,7 +67,7 @@
 
 \title{\leaguename Rule Book}
 \author{RoboCup Technical Committee}
-\date{(DRAFT \RCYear rules, as of \today)}
+\date{(\RCYear rules, as of \today)}
 
 \setlength{\parindent}{0pt}
 \setlength{\parskip}{12pt plus 6pt minus 3 pt}

rules/app_changes.tex

@@ -5,7 +5,7 @@ \section{Changes From \LastRCYear}
 This is a brief non-normative list of rule changes from \LastRCYear to \RCYear:
 \begin{itemize}
   \item Teams can be restricted from blocking natural light at the competition (\cf~\cref{sec:lightConditions}).
-  \item The transition from the \texttt{initial} to \texttt{ready} state is announced via visual referee signal and the signal of the GameController is delayed (\cf~\cref{sec:robot_states}). The penalty ``Forbidden Motion in Initial'' was added (\cf~\cref{sec:motion_in_initial}).
+  \item The transition to \texttt{ready} state is announced via visual referee signal in the \texttt{standby} state and the signal of the GameController is delayed for Champions Cup matches(\cf~\cref{sec:robot_states}). The penalty ``Forbidden Motion in Standby'' was added (\cf~\cref{sec:motion_in_standby}).
   \item The rules regarding direct kick goals were tightened for Champions Cup matches. More dynamic ball handling is required to score goals (\cf~\cref{sec:indirect_kick_champions}).
   \item Global Game Stuck was changed with regards of choosing the team that receives kick-off (\cf~\cref{sec:game_stuck:global}).
   \item The Standard Removal Penalty was simplified. Robots will be placed behind the touchline facing towards the field, while penalized, and autonomously re-enter the game without requiring additional intervention from the referees (\cf~\cref{sec:removal_penalty}).

rules/forbidden_actions.tex

@@ -107,12 +107,12 @@ \subsection{Forbidden Motion}
 ``Forbidden Motion'' penalties do not follow the standard removal procedure, and hence do not count towards the incremental penalty count.
 A robot will be moved back to its original position if it has moved significantly before becoming penalized.
 
-\subsubsection{Motion in Initial}
-\label{sec:motion_in_initial}
+\subsubsection{Motion in Standby}
+\label{sec:motion_in_standby}
 
-Robots that begin moving before the transition from \texttt{initial} to \texttt{ready} (\ie before the head referee does the visual signal).
-The head referee will call ``Forbidden Motion in Initial\textless robot\textgreater''.
-Note that responding to any false signal of any fashion will result in this penalty. This rule does apply when the head referee believes that both teams are ready.
+Robots that begin to move during \texttt{standby} (\ie before the head referee does the visual signal).
+The head referee will call ``Forbidden Motion in Standby\textless robot\textgreater''.
+Note that responding to any false signal of any fashion will result in this penalty.
 
 \subsubsection{Motion in Set}
 \label{sec:motion_in_set}

rules/game_process.tex

@@ -17,7 +17,7 @@ \subsection{Structure of the Game}
 \subsection{Robot States}
 \label{sec:robot_states}
 
-Robots can be in \textit{eight} different \emph{primary} states (see~\cref{fig:robot_states}).
+Robots can be in \textit{nine} different \emph{primary} states (see~\cref{fig:robot_states}).
 Wireless connection must be available, so these states will be set by the GameController.
 Teams must implement code to receive and correctly respond to wireless GameController packets, and also give a visual indication of the game state.
 
@@ -33,9 +33,15 @@ \subsection{Robot States}
     So while in the \texttt{unstiff} state the robot is not allowed to move in any fashion! After booting, the robots are in their \texttt{unstiff} state.
     Pressing the chest button once while in the \texttt{unstiff} state, permits the robot to stiffen its joints and return to the \texttt{initial} state, or a state as indicated by GameController.
 
-  \item[Initial.] The robots are not allowed to be moving in any fashion besides initially standing up.
+    \item[Initial.] The robots are free to move at teams convenience and humans are allowed to interact with the robots. 
+    This state is not limited in time and teams have access to the field.
+    The GameController will activate this state before \texttt{standby} (i.e at the beginning of a half and during a timeout).
     Shortly pressing the chest button will switch the robot to the \texttt{penalized} state.
 
+    \item[Standby.] The robots are not allowed to move in any fashion besides initially standing up and moving their heads.
+    In \texttt{standby}, the robots are awaiting a visual indication from the referee which signals the transition to \texttt{ready}. 
+    This state is used for Champions Cup matches only. For Challenge Shield matches, this state is skipped, and it is transitioned directly to \texttt{ready}. 
+
   \item[Ready.] In this state, the robots walk to their legal positions for kick-off (\cf \cref{sec:kick-off}) or a penalty kick (\cf \cref{sec:penalty_kick}).
     They remain in this state, until the head referee decides that there is no significant progress, up to a maximum of \qty{\KickOffAutoTime}{\second} for a kick-off and \qty{\PenaltyKickSetupTime}{\second} for a penalty kick.
     The GameController can activate sub-states for kick-off and penalty kicks.
@@ -60,7 +66,7 @@ \subsection{Robot States}
   \item[Finished.] This state is reached when a half is finished.
 
   \item[Calibration.] This state denotes the robot is acting with automatic calibration.
-    This state may only be entered from \texttt{initial} by first pressing the front head button concluded by the chest button, for at least one second by the referees.
+    This state may only be entered from \texttt{initial} by first pressing the front head button concluded by the chest button, for at least one second.
 \end{description}
 
 \begin{figure}[t]
@@ -75,10 +81,19 @@ \subsection{Robot States}
   \label{fig:robot_states}
 \end{figure}
 
-The referee will announce the transition from the \texttt{initial} to \texttt{ready} state by raising both hands over its head. The referee will wear red gloves \footnote{Teams are encouraged to not rely on the red gloves as they could be removed in a following year.}.
-The referee must stand on the opposite side of the technical area behind the touchline and at the height of the halfway line.
+At the scheduled time, the referee will announce that the transition from the \texttt{initial} to \texttt{standby} will be executed 60 seconds later.
+The referee shall call ``Standby in 60 seconds''
+The GameController operator will announce the transition from \texttt{initial} to \texttt{standby} when the head referee is calling ``Standby''.
+If all humans from playing teams have left the field, the head referee can announce the transition earlier.
+
+
+Once the game controller operator has confirmed the \texttt{standby} state, the referee should wait a random time between 10 to 120 seconds before announcing the transition to \texttt{ready}. 
+Teams should expect that the delay before the referee signals the transition from \texttt{standby} to \texttt{ready} will be different every time.
+To announce the transition from \texttt{standby} to \texttt{ready} state, the referee will raise both hands over their head.
+Red gloves will be worn by the referee, though teams are encouraged not to rely on this visual cue as the gloves could be removed in a following year.
+The referee must stand on the opposite side of the technical area behind the touchline and in line with the halfway line.
 The signal must be held for \qty{\VisualSignalTime}{\second}.
-The GameController signal for the transition from \texttt{initial} to \texttt{ready} will be delayed by \qty{\SetDelayTimeChampion}{\second} for Champions Cup and by \qty{\SetDelayTimeChallenge}{\second} for Challenge Shield.
+The GameController signal for the transition from \texttt{standby} to \texttt{ready} will be delayed by \qty{\SetDelayTimeChampion}{\second} for Champions Cup and by \qty{\SetDelayTimeChallenge}{\second} for Challenge Shield.
 
 
 The referee will announce the start of the \texttt{playing} state with a single whistle blow.
@@ -90,6 +105,7 @@ \subsection{Robot States}
 \begin{itemize}
   \item \texttt{Unstiff}: Blue-Blinking
   \item \texttt{Initial}: Off
+  \item \texttt{Standby}: Cyan
   \item \texttt{Ready}: Blue
   \item \texttt{Set}: Yellow
   \item \texttt{Playing}: Green
@@ -367,7 +383,7 @@ \subsection{Penalty Kick}
 The referee should also place the ball on the penalty mark during \texttt{set}.
 The referee signals the penalty kick commences by blowing the whistle once, and calling ``Playing''.
 The game switches to the \texttt{penalty kick} sub-state of the \texttt{playing} game state, and the game clock is resumed.
-(Note that the GameContoller signal is delayed by \qty{\PlayingDelayTime}{\second} when switching from \texttt{set} to \texttt{penalty kick} sub-state).
+(Note that the GameController signal is delayed by \qty{\PlayingDelayTime}{\second} when switching from \texttt{set} to \texttt{penalty kick} sub-state).
 The attacking team has \qty{\PenaltyKickTime}{\second} to complete the penalty kick.
 
 During the penalty kick: