Change for visual signal in ready for RC 2025 (#159)

* Change for visual signal in ready for RC 2025

* Move red gloves outside game process to cover both signal

* Set delay for CS to 40s until further discussions

* Packet are count in standby

* Add figure and subsection for challenge shield

* Clarify head movement in forbidden actions

* Update ready picture

* Update forbidden_actions.tex

* Update judgment.tex

* Update game_process.tex

* Update spl_variables.tex

* Update forbidden_actions.tex

* Update forbidden_actions.tex

* rephrased motion in standby penalty

---------

Co-authored-by: Arne Moos <[email protected]>
Co-authored-by: electr0n <[email protected]>

SPL-Rules.tex

@@ -1,5 +1,7 @@
 % !TeX spellcheck = en_US
 \documentclass[12pt]{article}
+\setcounter{tocdepth}{4}
+\setcounter{secnumdepth}{4}
 
 \usepackage{times,fullpage,xspace,fancyhdr,url,color}
 \usepackage[pdftex]{graphicx}

common/spl_variables.tex

@@ -8,8 +8,8 @@
 \newcommand{\FreeKickTime}{30}
 \newcommand{\FreeKickRadius}{0.75}
 \newcommand{\VisualSignalTime}{2}
-\newcommand{\SetDelayTimeChampion}{30}
-\newcommand{\SetDelayTimeChallenge}{0}
+\newcommand{\ReadyDelayTimeChampion}{45}
+\newcommand{\ReadyDelayTimeChallenge}{35}
 \newcommand{\PlayingDelayTime}{15}
 \newcommand{\PenaltyKickTime}{30}
 \newcommand{\PenaltyKickSetupTime}{30}

rules/forbidden_actions.tex

@@ -103,24 +103,26 @@ \subsubsection{Penalty Area During Penalty Kick}
 If a robot enters the relevant penalty area during a penalty kick, except for the goalkeeper (defending team) and one robot of the attacking team, ``Illegal Position'' is called.
 
 \subsection{Forbidden Motion}
-Robots that begin moving their legs or locomote in any fashion before reaching the specified state in the subsections
-will be penalized \textit{in place} on the field for \qty{15}{\second} in \textit{playing}. It's important to note that the penalty duration only counts down during the playing state.
+Robots that begin moving their legs or locomote in any fashion before reaching the specified state in the following subsections
+will be penalized \textit{in place} on the field.
 ``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.
+A robot will be moved back to its original position if it has moved significantly before being penalized.
 
 \subsubsection{Motion in Standby}
 \label{sec:motion_in_standby}
 
-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.
+If a robot begins to move during \texttt{standby} (\ie before the head referee does the visual signal), all robots from that team will be penalized from that moment until the delayed \textit{ready} signal is sent.
+Specifically, for the Champion Cup, this penalty will last in \textit{ready} up to \qty{\ReadyDelayTimeChampion}{\second}, while for the Challenge Shield, it will extend up to \qty{\ReadyDelayTimeChallenge}{\second}.
+However, movement of the head and initially standing up is permitted and does not result in a penalty.
+The head referee will call ``Forbidden Motion in Standby\textless team\textgreater''.
+Any response to a false signal of any kind will result in this penalty.
 
 \subsubsection{Motion in Set}
 \label{sec:motion_in_set}
 
-Robots that begin moving during \texttt{set} (\ie before the head referee blows the whistle).
+If a robot begins moving during \texttt{set} (\ie before the head referee blows the whistle), it will be penalized for \qty{15}{\second} in the \textit{playing} state.
 The head referee will call ``Forbidden Motion in Set \textless robot\textgreater''.
-Note that responding to a whistle on another field will result in this penalty.
+Note that falsely responding to a whistle on another field will result in this penalty.
 
 \subsection{Fallen or Inactive Robots}
 \label{sec:fallenrobots}

rules/game_process.tex

@@ -39,8 +39,7 @@ \subsection{Robot States}
     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}. 
+    In \texttt{standby}, the robots are awaiting a visual indication from the referee which signals the transition 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.
@@ -87,14 +86,20 @@ \subsection{Robot States}
 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}. 
+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} (\cf~\cref{sec:visual-signal}). 
 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.
+To announce the transition from \texttt{standby} to \texttt{ready} state, the referee will raise both hands over their head (\cf~\cref{fig:ready-signal}).
 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{standby} 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{\ReadyDelayTimeChampion}{\second} for Champions Cup and by \qty{\ReadyDelayTimeChallenge}{\second} for Challenge Shield.
+
+\begin{figure}
+  \centerline{
+      \includegraphics[height=0.35\columnwidth]{figs/visual-signal/Ready.png}
+  }
+  \caption{Example of referee executing \texttt{ready} signal.}
+  \label{fig:ready-signal}
+\end{figure}
 
 The referee will announce the start of the \texttt{playing} state with a single whistle blow.
 The GameController \texttt{playing} signal will be delayed by \qty{\PlayingDelayTime}{\second}.

rules/judgment.tex

@@ -81,13 +81,6 @@ \subsection{Referee--Team Communication}
 
 During all phases of the match teams and referees are communicating with respect to each other.
 
-\subsection{Referees During the Match}
-\label{sec:referee_during_match}
-
-The head referee and the assistant referees should wear socks \emph{of black or dark blue color} and avoid reserved colors (white and green) in their leg clothing.
-They may enter the field in particular situations, \eg, to remove a robot when applying a penalty.
-They should avoid interfering with the robots as much as possible.
-
 \subsection{Referee List For Friendly Games}
 \label{sec:referee_list}
 
@@ -97,4 +90,21 @@ \subsection{Referee List For Friendly Games}
 This is especially recommended for those who wish to gain referee experience.
 Teams are still free to choose their own referees.
 
-The OC should be in charge of maintaining the list and should be approached if one should want to volunteer.
+The OC should be in charge of maintaining the list and should be approached if one should want to volunteer.
+
+\subsection{Referees During the Match}
+\label{sec:referee_during_match}
+
+The head referee and the assistant referees should wear socks \emph{of black or dark blue color} and avoid reserved colors (white and green) in their leg clothing.
+They may enter the field in particular situations, \eg, to remove a robot when applying a penalty.
+They should avoid interfering with the robots as much as possible.
+
+\subsubsection{Visual signal}
+\label{sec:visual-signal}
+
+For visual signal execution, the referee should have bare hands as much as possible.
+Exceptions apply as described in the following subsections and for small jewelry.
+
+\paragraph{Challenge Shield}
+
+The referee executing the signal will wear red gloves to increase visibility; however, teams are advised not to rely solely on this visual cue, as gloves may be omitted in future years.

rules/robot_players.tex

@@ -149,7 +149,7 @@ \subsubsection{Wireless Communications}
 
 If a team exceeds their limit the game is scored with 0 goals for the offending team.
 Robot-to-robot communication that violates the SPL rules result in a game scored with 0 goals for the offending team (even when discovered after the game was finished).
-Messages are counted towards the limit during the \texttt{ready}, \texttt{set} and \texttt{playing} states.
+Messages are counted towards the limit during the \texttt{standby}, \texttt{ready}, \texttt{set} and \texttt{playing} states.
 Limits do not apply during penalty kick shoot-out.
 If a knock-out game results in a draw and both teams exceeded their message limit, the team last exceeding their limit wins the game.