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

Author: val-ba

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

@@ -103,32 +103,35 @@ $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
-                DIRECT_FREEKICK --> $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
-                INDIRECT_FREEKICK --> $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
-                GOAL_KICK --> $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
-                PENALTYKICK --> $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 --> $RankToBallNoGoalie
+            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
+                //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
+                //DIRECT_FREEKICK --> $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
+                //INDIRECT_FREEKICK --> $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
+                //GOAL_KICK --> $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
+                //PENALTYKICK --> $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 --> $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