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

Author: cleWu03

.rsyncignore

@@ -17,6 +17,7 @@ src/bitbots_misc/bitbots_parameter_blackboard/config/game_settings.yaml
 *.idea
 *.pyc
 *.vscode
+*.devcontainer
 
 __pycache__
 

pixi.toml

@@ -228,13 +228,17 @@ pyamdgpuinfo = ">=2.1.7, <3"
 [feature.ros.activation.env]
 ROS_AUTOMATIC_DISCOVERY_RANGE = "LOCALHOST"
 RCUTILS_COLORIZED_OUTPUT = "1"
+RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
 RMW_IMPLEMENTATION = "rmw_cyclonedds_cpp"
 COLCON_LOG_LEVEL = "30"
 PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
 WEBOTS_HOME = "$CONDA_PREFIX/share/webots"
 
 [feature.ros.activation]
-scripts = ["install/setup.sh"]
+scripts = [
+    "install/setup.sh",
+    "scripts/ros.plugin.sh",
+]
 
 [environments]
 default = ["ros", "format"]  # Full development environment (excluding robot-only deps)

scripts/ros.plugin.sh

@@ -0,0 +1,101 @@
+### Aliases and functions for ROS 2 and colcon usage.
+
+rid() {
+  export ROS_DOMAIN_ID="$1"
+  echo "ROS_DOMAIN_ID set to $ROS_DOMAIN_ID"
+}
+
+# Create a function to update the argcomplete and generate the completion
+# scripts so that tab completion works within `pixi shell` environments.
+update_argcompletes() {
+  local tools=(
+      ros2
+      colcon
+  )
+
+  if [[ -n "${CONDA_PREFIX:-}" ]]; then
+    local completions_path="$CONDA_PREFIX/share/zsh/site-functions"
+
+    if ! [[ -d "$completions_path" ]]; then
+        mkdir -p "$completions_path"
+    fi
+
+    for tool in "${tools[@]}"; do
+        if type "$tool" &> /dev/null; then
+          local _completion="$(register-python-argcomplete "$tool")"
+
+          if ! [[ -f "$completions_path/_$tool" ]]; then
+            echo "_completion" > "$completions_path/_$tool"
+          fi
+        fi
+    done
+  fi
+}
+
+setup_alises() {
+  # check if we are in subdir of $ROS_WORKSPACE and switch to it otherwise
+  alias cdc='[[ "$PWD" = "$ROS_WORKSPACE"* ]] || cd "$ROS_WORKSPACE"'
+
+  alias psh='cdc && pixi shell'
+
+  # ros aliases
+  alias ros2='cdc && pixi run ros2'
+  alias rr='ros2 run'
+  alias rl='ros2 launch'
+
+  alias rte='ros2 topic echo'
+  alias rtl='ros2 topic list'
+  alias rth='ros2 topic hz'
+  alias rtp='ros2 topic pub'
+
+  alias rpl='ros2 param list'
+  alias rpg='ros2 param get'
+
+  # colcon aliases
+  alias colcon='cdc && pixi run colcon'
+  alias cba='cdc && pixi run build'
+  alias cbs='cba --packages-select'
+  alias cb='cba --packages-up-to'
+
+  alias ct='pixi run test'
+  alias cts='ct --packages-select'
+
+  alias cca='pixi run clean'
+
+  # deploy_robots tool aliases
+  alias dp='pixi run deploy --sync --build --print-bit-bot'
+  alias dpfull='dp --install --configure'
+  alias dpclean='dp --clean'
+  alias dplo='dp --skip-local-repo-check'
+
+  # Overwrite some aliases in pixi shell to allow for tab completion
+  # by directly using ros2/colcon instead of the pixi tasks
+  if [[ "$(ps -o comm= -p "$PPID")" == "pixi" ]]; then
+    alias cdc='cd $PIXI_PROJECT_ROOT'
+
+    # ros aliases
+    unalias ros2
+    alias rr='ros2 run'
+    alias rl='ros2 launch'
+
+    alias rte='ros2 topic echo'
+    alias rtl='ros2 topic list'
+    alias rth='ros2 topic hz'
+    alias rtp='ros2 topic pub'
+
+    alias rpl='ros2 param list'
+    alias rpg='ros2 param get'
+
+    # colcon aliases
+    unalias colcon
+    alias cba='cdc && colcon build --symlink-install --cmake-args -G "Unix Makefiles" --continue-on-error'
+    alias cbs='cba --packages-select'
+    alias cb='cba --packages-up-to'
+
+    alias ct='cdc && colcon test --event-handlers console_direct+ --return-code-on-test-failure'
+    alias cts='ct --packages-select'
+  fi
+}
+
+update_argcompletes
+setup_alises

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

@@ -13,6 +13,7 @@ def __init__(self, node, blackboard=None):
         super().__init__(node, blackboard)
         self.team_id: int = get_parameters_from_other_node(self._node, "parameter_blackboard", ["team_id"])["team_id"]
         self.own_id: int = get_parameters_from_other_node(self._node, "parameter_blackboard", ["bot_id"])["bot_id"]
+        self.own_id: int = get_parameters_from_other_node(self._node, "parameter_blackboard", ["bot_id"])["bot_id"]
         self.gamestate = GameState()
         self.last_update: float = 0.0
         self.unpenalized_time: float = 0.0
@@ -35,6 +36,8 @@ def get_set_play(self) -> int:
     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
 
     def has_kickoff(self) -> bool:
         #vegelcih mit eigener Teamnummer
@@ -47,6 +50,9 @@ 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)
 
     def get_our_goals(self) -> int:
         return self.gamestate.own_score
@@ -64,19 +70,22 @@ def get_seconds_remaining(self) -> float:
         # Time from the message minus time passed since receiving it
         return max(
             self.gamestate.secs_remaining - (self._node.get_clock().now().nanoseconds / 1e9 - self.last_update), 0.0
+            self.gamestate.secs_remaining - (self._node.get_clock().now().nanoseconds / 1e9 - self.last_update), 0.0
         )
 
     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.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
 
     def get_is_penalized(self) -> bool:
         return self.gamestate.penalized
@@ -98,24 +107,34 @@ def gamestate_callback(self, gamestate_msg: GameState) -> None:
         if gamestate_msg.rival_score > self.gamestate.rival_score:
             self.last_goal_time = self._node.get_clock().now().nanoseconds / 1e9
 
+        '''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
             and gamestate_msg.state == GameState.STATE_PLAYING
+            gamestate_msg.main_state == GameState.STATE_SET
+            and self.gamestate.setPlay != 2
+            and gamestate_msg.state == GameState.STATE_PLAYING
         ):
             # 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 = 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_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/game_state_decider.py

@@ -28,6 +28,8 @@ def perform(self, reevaluate=False):
             return "PLAYING"
         elif game_state_number == GameState.STATE_FINISHED:
             return "FINISHED"
+        elif game_state_number == GameState.STATE_STANDBY:
+            return "STANDBY"
 
     def get_reevaluate(self):
         """