update dsd for whistle detection and decision

Author: val-ba

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py

@@ -121,10 +121,6 @@ def gamestate_callback(self, gamestate_msg: GameState) -> None:
         self.last_update = self._node.get_clock().now().nanoseconds / 1e9
         self.gamestate = gamestate_msg
 
-    def whistle_detected(self) -> bool:
-        return self.whistle_detected
-
-
     def whistle_detection_callback(self, msg) -> None: # MSG type is assumed to be bool for now, prototyping
-        self.whistle_detected = msg.data
+        self.whistle_detected = msg.data # This stays true after the first whistle detection which is incorrect
 

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/whistle_detected.py

@@ -7,14 +7,11 @@ class WhistleDetected(AbstractDecisionElement):
 
     def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
+        self.bb = blackboard
+        self.bb.game_state_capsule.whistle_detected = False
 
     def perform(self, reevaluate=False):
-        """
-        Determines whether we are confident regarding the ball's position.
-        :param reevaluate:
-        :return:
-        """
-        if self.blackboard.world_model.ball_has_been_seen(): # TODO
+        if self.bb.game_state_capsule.whistle_detected: 
             return "YES"
         return "NO"
 

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -162,6 +162,16 @@ $BallSeen
                     SECOND --> #SupporterRole
                     THIRD --> #DefensePositioning
 
+#PlayingBehavior
+$SecondaryStateDecider
+            PENALTYSHOOT --> #PenaltyShootoutBehavior
+            TIMEOUT --> #StandAndLook
+            ELSE --> $SecondaryStateModeDecider
+                ELSE --> #StandAndLook
+                PLACING --> #Placing
+            NORMAL --> #NormalBehavior
+            OVERTIME --> #NormalBehavior
+
 -->BodyBehavior
 $IsPenalized
     YES --> #DoNothing
@@ -175,21 +185,18 @@ $IsPenalized
             NO --> $DoOnce
                 NOT_DONE --> @ChangeAction + action:waiting + r:false, @LookAtFieldFeatures + r:false, @Stand + duration:2
                 DONE --> #PositioningReady
-        SET --> $SecondaryStateDecider
-            PENALTYSHOOT --> $SecondaryStateTeamDecider
-                OUR --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @PlayAnimationInitInSim + r:false, @GetWalkready + r:false, @Stand // we need to also see the goalie
-                OTHER --> $BallSeen
-                    YES --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @PlayAnimationInitInSim + r:false, @GetWalkready + r:false, @TrackBall + r:false, @PlayAnimationGoalieArms + r:false, @Stand // goalie only needs to care about the ball
-                    NO --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @PlayAnimationInitInSim + r:false, @GetWalkready + r:false, @LookAtFieldFeatures + r:false, @PlayAnimationGoalieArms + r:false, @Stand
-            ELSE --> #StandAndLook
+        SET --> $WhistleDetected
+            YES --> #PlayingBehavior
+            NO --> $SecondaryStateDecider
+                PENALTYSHOOT --> $SecondaryStateTeamDecider
+                    OUR --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @PlayAnimationInitInSim + r:false, @GetWalkready + r:false, @Stand // we need to also see the goalie
+                    OTHER --> $BallSeen
+                        YES --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @PlayAnimationInitInSim + r:false, @GetWalkready + r:false, @TrackBall + r:false, @PlayAnimationGoalieArms + r:false, @Stand // goalie only needs to care about the ball
+                        NO --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @PlayAnimationInitInSim + r:false, @GetWalkready + r:false, @LookAtFieldFeatures + r:false, @PlayAnimationGoalieArms + r:false, @Stand
+                ELSE --> #StandAndLook
         FINISHED --> $CurrentScore
             AHEAD --> @Stand + duration:0.5 + r:false, @PlaySound + file:fanfare.wav, @PlayAnimationCheering + r:false, @GetWalkready + r:false, @LookForward, @Stand
             ELSE --> #Init
-        PLAYING --> $SecondaryStateDecider
-            PENALTYSHOOT --> #PenaltyShootoutBehavior
-            TIMEOUT --> #StandAndLook
-            ELSE --> $SecondaryStateModeDecider
-                ELSE --> #StandAndLook
-                PLACING --> #Placing
-            NORMAL --> #NormalBehavior
-            OVERTIME --> #NormalBehavior
+        PLAYING --> #PlayingBehavior
+
+

src/bitbots_world_model/bitbots_whistle_detector/setup.py

@@ -12,11 +12,13 @@
     packages=[package_name],
     data_files=[
         ("share/" + package_name, ["package.xml"]),
+        ("share/" + package_name + "/launch", glob.glob("launch/*.launch")),
     ],
     install_requires=[
         "launch",
         "setuptools",
     ],
+
     tests_require=["pytest"],
     zip_safe=True,
     keywords=["ROS"],