Resolve "Add test play for stopping ball"

Closes #1981

See merge request main/Sumatra!1867

sumatra-commit: 2cb92f480bec69c7f99579704906037b671e38f3

modules/common-math/src/main/java/edu/tigers/sumatra/math/pose/Pose.java

@@ -10,6 +10,7 @@
 import edu.tigers.sumatra.math.vector.IVector2;
 import edu.tigers.sumatra.math.vector.IVector3;
 import edu.tigers.sumatra.math.vector.Vector2;
+import edu.tigers.sumatra.math.vector.Vector3;
 import edu.tigers.sumatra.math.vector.Vector3f;
 import lombok.Data;
 import lombok.NonNull;
@@ -66,6 +67,17 @@ public static Pose nan()
 	}
 
 
+	public static Pose valueOf(String value)
+	{
+		IVector3 pose = Vector3.valueOf(value);
+		if (pose == null)
+		{
+			return null;
+		}
+		return Pose.from(pose);
+	}
+
+
 	@Override
 	public Pose mirrored()
 	{

modules/common-math/src/main/java/edu/tigers/sumatra/math/pose/PoseConverter.java

@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2009 - 2020, DHBW Mannheim - TIGERs Mannheim
+ */
+
+package edu.tigers.sumatra.math.pose;
+
+import com.github.g3force.s2vconverter.IString2ValueConverter;
+import edu.tigers.sumatra.math.vector.Vector3;
+import lombok.extern.log4j.Log4j2;
+
+
+@Log4j2
+public class PoseConverter implements IString2ValueConverter
+{
+	@Override
+	public boolean supportedClass(final Class<?> impl)
+	{
+		return impl.equals(Pose.class);
+	}
+
+
+	@Override
+	public Object parseString(final Class<?> impl, final String value)
+	{
+		if (impl.equals(Pose.class))
+		{
+			return Pose.valueOf(value);
+		}
+		return null;
+	}
+
+
+	@Override
+	public String toString(final Class<?> impl, final Object value)
+	{
+		Pose pose = (Pose) value;
+		return Vector3.from2d(pose.getPos(), pose.getOrientation()).getSaveableString();
+	}
+
+}

modules/common-math/src/main/resources/META-INF/services/com.github.g3force.s2vconverter.IString2ValueConverter

@@ -2,4 +2,5 @@
 # Copyright (c) 2009 - 2017, DHBW Mannheim - TIGERs Mannheim
 #
 
-edu.tigers.sumatra.math.vector.VectorConverter
+edu.tigers.sumatra.math.vector.VectorConverter
+edu.tigers.sumatra.math.pose.PoseConverter

modules/common/src/main/java/edu/tigers/sumatra/time/TimestampTimer.java

@@ -4,6 +4,9 @@
 
 package edu.tigers.sumatra.time;
 
+import java.util.function.BooleanSupplier;
+
+
 /**
  * A timestamp-based timer that can check if a predefined duration has running out
  *
@@ -13,42 +16,42 @@ public class TimestampTimer
 {
 	private long tStart = 0;
 	private long duration = 0;
-	
-	
+
+
 	/**
 	 * Create a new timer
-	 * 
+	 *
 	 * @param duration the duration of this timer [s]
 	 */
 	public TimestampTimer(final double duration)
 	{
 		setDuration(duration);
 	}
-	
-	
+
+
 	/**
 	 * Reset the timer. Time is not running afterwards, until {@link TimestampTimer#start(long)} is called.
 	 */
 	public void reset()
 	{
 		tStart = 0;
 	}
-	
-	
+
+
 	/**
 	 * Start the timer with given start time
-	 * 
+	 *
 	 * @param tStart the starting timestamp [ns]
 	 */
 	public void start(long tStart)
 	{
 		this.tStart = tStart;
 	}
-	
-	
+
+
 	/**
 	 * Start timer if not already started
-	 * 
+	 *
 	 * @param tStart the start timestamp
 	 */
 	public void update(long tStart)
@@ -58,29 +61,29 @@ public void update(long tStart)
 			this.tStart = tStart;
 		}
 	}
-	
-	
+
+
 	/**
 	 * @param duration the duration in [s] after which time is up
 	 */
 	public void setDuration(double duration)
 	{
 		this.duration = (long) (duration * 1e9);
 	}
-	
-	
+
+
 	/**
 	 * Check if time is up
-	 * 
+	 *
 	 * @param curTimestamp the current time as timestamp [ns]
 	 * @return true, if curTimestamp is newer than tStart + duration
 	 */
 	public boolean isTimeUp(long curTimestamp)
 	{
 		return tStart != 0 && (curTimestamp - tStart) > duration;
 	}
-	
-	
+
+
 	/**
 	 * @param curTimestamp current timestamp
 	 * @return the time from tStart to now in [s]
@@ -93,8 +96,8 @@ public double getCurrentTime(long curTimestamp)
 		}
 		return (curTimestamp - tStart) / 1e9;
 	}
-	
-	
+
+
 	/**
 	 * @param curTimestamp current timestamp
 	 * @return the remaining time of this timer
@@ -103,19 +106,54 @@ public double getRemainingTime(long curTimestamp)
 	{
 		return getDuration() - getCurrentTime(curTimestamp);
 	}
-	
-	
+
+
 	public double getDuration()
 	{
 		return duration / 1e9;
 	}
-	
-	
+
+
 	/**
 	 * @return true, if the timer is running (not reset)
 	 */
 	public boolean isRunning()
 	{
 		return tStart != 0;
 	}
+
+
+	public boolean isTimeUpWithCondition(
+			long timestamp,
+			BooleanSupplier condition
+	)
+	{
+		if (condition.getAsBoolean())
+		{
+			update(timestamp);
+			return isTimeUp(timestamp);
+		}
+		reset();
+		return false;
+	}
+
+
+	public void whenConditionIsMet(
+			long timestamp,
+			BooleanSupplier condition,
+			Runnable runnable
+	)
+	{
+		if (condition.getAsBoolean())
+		{
+			update(timestamp);
+			if (isTimeUp(timestamp))
+			{
+				runnable.run();
+			}
+		} else
+		{
+			reset();
+		}
+	}
 }