Rename bahavior functions (#807)

- Rename functions adapting the new game controller wordings
- Change definition of "NONE" in has_kickoff decision

Author: cleWu03

pixi.lock

@@ -25,7 +25,7 @@ def __init__(self, node, blackboard=None):
         # publish stopped msg for hcm
         self.stop_pub = node.create_publisher(Bool, "game_controller/stop_msg", 1)
 
-    def get_game_state(self) -> int:
+    def get_main_state(self) -> int:
         # Init, ready, set, playing, finished
         return self.gamestate.main_state
 
@@ -37,11 +37,11 @@ def get_set_play(self) -> int:
         # None, Direct Freekick, Indirect Freekick, Penalty, Throw in, Goalkick, Cornerkick,
         return self.gamestate.set_play
 
-    def get_secondary_team(self) -> int:
+    def get_kicking_team(self) -> int:
         # Team ID, wer in set Play den Ball hat
         return self.gamestate.kicking_team
 
-    def has_kickoff(self) -> bool:
+    def has_kick(self) -> bool:
         # vegelcih mit eigener Teamnummer
         return self.gamestate.kicking_team == self.team_id
 
@@ -53,10 +53,10 @@ def has_penalty_kick(self) -> bool:
             self.gamestate.set_play == GameState.SET_PLAY_PENALTY_KICK and self.gamestate.kicking_team == self.team_id
         )
 
-    def get_our_goals(self) -> int:
+    def get_own_score(self) -> int:
         return self.gamestate.own_score
 
-    def get_opp_goals(self) -> int:
+    def get_rival_score(self) -> int:
         return self.gamestate.rival_score
 
     def get_seconds_since_own_goal(self) -> float:
@@ -124,7 +124,7 @@ def gamestate_callback(self, gamestate_msg: GameState) -> None:
             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
+            gamestate_msg.has_kick = 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/bitbots_blackboard/capsules/game_status_capsule.py

@@ -9,7 +9,7 @@ class GoToRolePosition(AbstractActionElement):
     def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         role_positions = self.blackboard.config["role_positions"]
-        kickoff_type = "active" if self.blackboard.gamestate.has_kickoff() else "passive"
+        kickoff_type = "active" if self.blackboard.gamestate.has_kick() else "passive"
         try:
             if self.blackboard.team_data.role == "goalie":
                 generalized_role_position = role_positions[self.blackboard.team_data.role]

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_role_position.py

@@ -9,8 +9,8 @@ def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
-        own_goals = self.blackboard.gamestate.get_our_goals()
-        opp_goals = self.blackboard.gamestate.get_opp_goals()
+        own_goals = self.blackboard.gamestate.get_own_score()
+        opp_goals = self.blackboard.gamestate.get_rival_score()
 
         if own_goals == opp_goals:
             return "DRAW"

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

@@ -16,7 +16,7 @@ def perform(self, reevaluate=False):
         :return:
         """
 
-        game_state_number = self.blackboard.gamestate.get_game_state()
+        game_state_number = self.blackboard.gamestate.get_main_state()
         is_stopped = self.blackboard.gamestate.is_stopped()
         # todo this is a temporary hack to make GUI work
         if is_stopped:

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

@@ -10,7 +10,7 @@ def __init__(self, blackboard, dsd, parameters):
         self.kickoff_min_ball_movement = self.blackboard.config["kickoff_min_ball_movement"]
 
     def perform(self, reevaluate=False):
-        if self.blackboard.gamestate.has_kickoff():
+        if self.blackboard.gamestate.has_kick():
             self.publish_debug_data("Reason", "Our kick off")
             return "YES"
         else:

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

@@ -67,16 +67,15 @@ def perform(self, reevaluate=False):
         game_phase_number = self.blackboard.gamestate.get_game_phase()
         # we have to handle penalty shoot differently because the message is strange
         if game_phase_number == GameState.GAME_PHASE_PENALTY_SHOOT_OUT:
-            if self.blackboard.gamestate.has_kickoff():
+            if self.blackboard.gamestate.has_kick():
                 return "OUR"
             return "OTHER"
         else:
-            if self.blackboard.gamestate.get_secondary_team() == self.team_id:
+            if self.blackboard.gamestate.get_kicking_team() == self.team_id:
                 return "OUR"
             # @TODO: handle this better and potentially adapt KickOffTimeUp
             elif (
-                self.blackboard.gamestate.get_secondary_team() == 255
-                or self.blackboard.gamestate.get_secondary_team() == 0
+                self.blackboard.gamestate.get_kicking_team() == 255 or self.blackboard.gamestate.get_kicking_team() == 0
             ):
                 return "NONE"
 

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

@@ -32,7 +32,7 @@ def perform(self, reevaluate=False):
         :param reevaluate:
         :return:
         """
-        game_state_number = self.blackboard.gamestate.get_game_state()
+        game_state_number = self.blackboard.gamestate.get_main_state()
         # todo this is a temporary hack to make GUI work
         if game_state_number == GameState.STATE_INITIAL:
             return "INITIAL"
@@ -116,18 +116,15 @@ def perform(self, reevaluate=False):
         game_phase_number = self.blackboard.gamestate.get_game_phase()
         # we have to handle penalty shoot differently because the message is strange
         if game_phase_number == GameState.GAME_PHASE_PENALTY_SHOOT_OUT:
-            if self.blackboard.gamestate.has_kickoff():
+            if self.blackboard.gamestate.has_kick():
                 return "OUR"
 
             return "OTHER"
         else:
-            if self.blackboard.gamestate.get_secondary_team() == self.team_id:
+            if self.blackboard.gamestate.get_kicking_team() == self.team_id:
                 return "OUR"
             # @TODO: handle this better and potentially adapt KickOffTimeUp
-            elif (
-                self.blackboard.gamestate.get_secondary_team() == 255
-                or self.blackboard.gamestate.get_secondary_team() == 0
-            ):
+            elif self.blackboard.gamestate.get_kicking_team() == 255:
                 return "NONE"
 
             return "OTHER"
@@ -164,11 +161,11 @@ class InitialToReady(AbstractLocalizationDecisionElement):
 
     def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
-        self.previous_game_state_number = self.blackboard.gamestate.get_game_state()
+        self.previous_game_state_number = self.blackboard.gamestate.get_main_state()
 
     def perform(self, reevaluate=False):
         previous_game_state_number = self.previous_game_state_number
-        game_state_number = self.blackboard.gamestate.get_game_state()
+        game_state_number = self.blackboard.gamestate.get_main_state()
         self.previous_game_state_number = game_state_number
 
         self.publish_debug_data("Previous game state", previous_game_state_number)

src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/game_state.py

@@ -81,7 +81,7 @@ def __init__(self):
             self.logger.error("No team id found in parameter blackboard")
             self.team_id = int(input("Please enter team id: "))
 
-        self.has_kick_off = True
+        self.has_kick = True
 
         self.settings = termios.tcgetattr(sys.stdin)