Merge branch 'Gamecontroller-update-for-HSL' of github.com:bit-bots/bitbots_main into Gamecontroller-update-for-HSL

Author: confusedlama

scripts/deploy/deploy_robots.py

@@ -118,8 +118,8 @@ def _parse_arguments(self) -> argparse.Namespace:
         parser.add_argument(
             "-w",
             "--workspace",
-            default=".",
-            help="Path to the workspace directory to deploy to. Defaults to the current directory.",
+            default="~/bitbots_main",
+            help="Path to the workspace directory to deploy to. Defaults to 'bitbots_main' in $HOME dir.",
         )
         parser.add_argument("--skip-local-repo-check", action="store_true", help="Skip the local repository check.")
 

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

@@ -1,7 +1,7 @@
 from typing import Optional
 
 from bitbots_utils.utils import get_parameters_from_other_node
-from game_controller_hl_interfaces.msg import GameState
+from game_controller_hsl_interfaces.msg import GameState
 from std_msgs.msg import Bool
 
 from bitbots_blackboard.capsules import AbstractBlackboardCapsule
@@ -21,42 +21,37 @@ def __init__(self, node, blackboard=None):
         self.last_goal_from_us_time = -86400.0
         self.last_goal_time = -86400.0
         self.free_kick_kickoff_team: Optional[bool] = None
-        self.game_controller_stop: Bool = False
-        #publish stopped msg for hcm
-        self.stop_pub = self.node.create_publisher(Bool, "game_controller/stop_msg", 1)
+        self.game_controller_stop: bool = False
+        # publish stopped msg for hcm
+        self.stop_pub = node.create_publisher(Bool, "game_controller/stop_msg", 1)
 
     def get_game_state(self) -> int:
-        #Init, ready, set, playing, finished
+        # Init, ready, set, playing, finished
         return self.gamestate.main_state
 
     def get_game_phase(self) -> int:
-        #Timeout, Normal, Extratime, Penaltyshoot
-        return self.gamestate.gamePhase
+        # Timeout, Normal, Extratime, Penaltyshoot
+        return self.gamestate.game_phase
 
     def get_set_play(self) -> int:
-        #None, Direct Freekick, Indirect Freekick, Penalty, Throw in, Goalkick, Cornerkick,
-        return self.gamestate.setPlay
+        # None, Direct Freekick, Indirect Freekick, Penalty, Throw in, Goalkick, Cornerkick,
+        return self.gamestate.set_play
 
     def get_secondary_team(self) -> int:
-        #Team ID, wer in set Play den Baall hat
-        return self.gamestate.kickingTeam
-        #Team ID, wer in set Play den Baall hat
-        return self.gamestate.kickingTeam
+        # Team ID, wer in set Play den Ball hat
+        return self.gamestate.kicking_team
 
     def has_kickoff(self) -> bool:
-        #vegelcih mit eigener Teamnummer
-        return self.gamestate.kickingTeam == self.team_id
-    
+        # vegelcih mit eigener Teamnummer
+        return self.gamestate.kicking_team == self.team_id
+
     def is_stopped(self) -> bool:
         return self.gamestate.stopped
 
     def has_penalty_kick(self) -> bool:
-        return( 
-            self.gamestate.set_play == GameState.SET_PLAY_PENALTY_KICK
-            and self.gamestate.kickingTeam == self.team_id)
-        return( 
-            self.gamestate.set_play == GameState.SET_PLAY_PENALTY_KICK
-            and self.gamestate.kickingTeam == self.team_id)
+        return (
+            self.gamestate.set_play == GameState.SET_PLAY_PENALTY_KICK and self.gamestate.kicking_team == self.team_id
+        )
 
     def get_our_goals(self) -> int:
         return self.gamestate.own_score
@@ -80,14 +75,12 @@ def get_secondary_seconds_remaining(self) -> float:
         """Seconds remaining for things like kickoff"""
         # Time from the message minus time passed since receiving it
         return max(
-            self.gamestate.secondary_time
-            - (self._node.get_clock().now().nanoseconds / 1e9 - self.last_update),
+            self.gamestate.secondary_time - (self._node.get_clock().now().nanoseconds / 1e9 - self.last_update),
             0.0,
         )
 
     def get_seconds_since_unpenalized(self) -> float:
-        return self._node.get_clock().now().nanoseconds / 1e9 - self.seconds_till_unpenalized
-        return self._node.get_clock().now().nanoseconds / 1e9 - self.seconds_till_unpenalized
+        return self._node.get_clock().now().nanoseconds / 1e9 - self.unpenalized_time
 
     def get_is_penalized(self) -> bool:
         return self.gamestate.penalized
@@ -111,9 +104,9 @@ def gamestate_callback(self, gamestate_msg: GameState) -> None:
 
         self.game_controller_stop = gamestate_msg.stopped
 
-        self.stop_pub.publish(self.game_controller_stop)
+        self.stop_pub.publish(Bool(data=self.game_controller_stop))
 
-        '''Anstoß im Falle von Overtime jetzt erstmal nicht genauer geregelt
+        """Anstoß im Falle von Overtime jetzt erstmal nicht genauer geregelt
         if (
             gamestate_msg.main_state == GameState.STATE_SET
             and self.gamestate.setPlay != 2
@@ -125,20 +118,20 @@ def gamestate_callback(self, gamestate_msg: GameState) -> None:
             # secondary action is now executed but we will not see this in the new messages.
             # it will look like a normal kick off, but we need to remember that this is some sort of free kick
             # we set the kickoff value accordingly, then we will not be allowed to move if it is a kick for the others
-            self.free_kick_kickoff_team = gamestate_msg.kickingTeam
-            
-        
-        if gamestate_msg.setPlay != 2 and gamestate_msg.secondaryTime == 0:
-            self.free_kick_kickoff_team = gamestate_msg.kickingTeam
-            
-        
-        if gamestate_msg.setPlay != 2 and gamestate_msg.secondaryTime == 0:
+            self.free_kick_kickoff_team = gamestate_msg.kicking_team
+
+
+        if gamestate_msg.set_play != 2 and gamestate_msg.secondary_time == 0:
+            self.free_kick_kickoff_team = gamestate_msg.kicking_team
+
+
+        if gamestate_msg.set_play != 2 and gamestate_msg.secondary_time == 0:
             self.free_kick_kickoff_team = None
-        
-        
+
+
 
         if self.free_kick_kickoff_team is not None:
             gamestate_msg.has_kick_off = self.free_kick_kickoff_team == self.team_id
-        '''
+        """
         self.last_update = self._node.get_clock().now().nanoseconds / 1e9
         self.gamestate = gamestate_msg

src/bitbots_behavior/bitbots_blackboard/package.xml

@@ -23,7 +23,7 @@
     <build_depend>bitbots_docs</build_depend>
     <depend>bitbots_tf_buffer</depend>
     <depend>bitbots_utils</depend>
-    <depend>game_controller_hl_interfaces</depend>
+    <depend>game_controller_hsl_interfaces</depend>
     <depend>python3-numpy</depend>
     <depend>rclpy</depend>
     <depend>ros2_numpy</depend>

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

@@ -1,6 +1,6 @@
 from bitbots_blackboard.body_blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-from game_controller_hl_interfaces.msg import GameState
+from game_controller_hsl_interfaces.msg import GameState
 
 
 class GameStateDecider(AbstractDecisionElement):
@@ -30,6 +30,11 @@ def perform(self, reevaluate=False):
             return "FINISHED"
         elif game_state_number == GameState.STATE_STANDBY:
             return "STANDBY"
+        else:
+            # This should never happen, but all cases required string response
+            # as we do not get any stack trace otherwise
+            self.blackboard.node.get_logger().error(f"Received unknown game state number: {game_state_number}")
+            return "UNKNOWN"
 
     def get_reevaluate(self):
         """

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

@@ -1,6 +1,6 @@
 from bitbots_blackboard.body_blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-from game_controller_hl_interfaces.msg import GameState
+from game_controller_hsl_interfaces.msg import GameState
 
 
 class SecondaryStateDecider(AbstractDecisionElement):
@@ -16,7 +16,7 @@ def __init__(self, blackboard, dsd, parameters):
 
     def perform(self, reevaluate=False):
         set_play_number = self.blackboard.gamestate.get_set_play()
-        game_phase_number = self.blackboard.gamestate.get_game_phase
+        game_phase_number = self.blackboard.gamestate.get_game_phase()
         # todo this is a temporary hack to make GUI work
         if game_phase_number == GameState.GAME_PHASE_NORMAL and set_play_number == GameState.SET_PLAY_NONE:
             return "NORMAL"
@@ -38,6 +38,11 @@ def perform(self, reevaluate=False):
             return "GOAL_KICK"
         elif set_play_number == GameState.SET_PLAY_THROW_IN:
             return "THROW_IN"
+        else:
+            self.blackboard.node.get_logger().error(
+                f"Unknown secondary state with game phase {game_phase_number} and set play {set_play_number}"
+            )
+            return "UNKNOWN"
 
     def get_reevaluate(self):
         """

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

@@ -103,17 +103,10 @@ $DoOnce
             NO --> $SecondaryStateTeamDecider
                 OUR --> #SearchBall
                 OTHER --> @AvoidBallActive, @LookAtFieldFeatures, @WalkInPlace + duration:2, @GoToRelativePosition + x:1 + y:0 + t:0, @Stand
-            YES --> $SecondaryStateDecider
-                CORNER_KICK -->  @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToCornerKickPosition + mode:others
-                THROW_IN --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
-                ELSE --> $SecondaryStateTeamDecider
-                    OUR --> $RankToBallNoGoalie
-                        FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
-                        SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
-                        THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
+            YES --> $RankToBallNoGoalie
+                FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first
+                SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
+                THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
 
 #Init
 @Stand + duration:0.1 + r:false, @ChangeAction + action:waiting, @LookForward, @Stand
@@ -164,7 +157,7 @@ $IsPenalized
             PENALTYSHOOT --> #PenaltyShootoutBehavior
             TIMEOUT --> #StandAndLook
             ELSE --> $SecondaryStateTeamDecider
-                OWN --> #NormalBehavior //Nutzt immer normalBehaviour wenn wir die aktion ausführen, könnte man spezifischeres Verhalten definieren 
+                OUR --> #NormalBehavior
                 OTHER --> #Placing
             NORMAL --> #NormalBehavior
             OVERTIME --> #NormalBehavior

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/body_behavior.py

@@ -4,7 +4,7 @@
 from bitbots_blackboard.body_blackboard import BodyBlackboard
 from bitbots_tf_buffer import Buffer
 from dynamic_stack_decider.dsd import DSD
-from game_controller_hl_interfaces.msg import GameState
+from game_controller_hsl_interfaces.msg import GameState
 from geometry_msgs.msg import PoseWithCovarianceStamped, Twist
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.duration import Duration

src/bitbots_behavior/bitbots_body_behavior/package.xml

@@ -22,7 +22,7 @@
   <depend>bitbots_tts</depend>
   <depend>bitbots_utils</depend>
   <depend>dynamic_stack_decider</depend>
-  <depend>game_controller_hl_interfaces</depend>
+  <depend>game_controller_hsl_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>python3-numpy</depend>
   <depend>rclpy</depend>

src/bitbots_lowlevel/bitbots_buttons/CMakeLists.txt

@@ -15,7 +15,7 @@ find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(bitbots_docs REQUIRED)
 find_package(bitbots_msgs REQUIRED)
-find_package(game_controller_hl_interfaces REQUIRED)
+find_package(game_controller_hsl_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
@@ -27,7 +27,7 @@ ament_target_dependencies(
   ament_cmake
   backward_ros
   bitbots_msgs
-  game_controller_hl_interfaces
+  game_controller_hsl_interfaces
   rclcpp
   std_msgs
   std_srvs

src/bitbots_lowlevel/bitbots_buttons/package.xml

@@ -20,14 +20,14 @@
   <depend>backward_ros</depend>
   <depend>bitbots_docs</depend>
   <depend>bitbots_msgs</depend>
-  <depend>game_controller_hl_interfaces</depend>
+  <depend>game_controller_hsl_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>test_msgs</depend>
 
   <export>
-      <bitbots_documentation>
+    <bitbots_documentation>
       <language>python3</language>
       <status>tested_robot</status>
     </bitbots_documentation>