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Whistle detection#755

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val-ba wants to merge 90 commits intomainfrom
feature/whistle_detection
Closed

Whistle detection#755
val-ba wants to merge 90 commits intomainfrom
feature/whistle_detection

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@val-ba
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@val-ba val-ba commented Feb 28, 2026 •
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Summary

In the coming RoboCup competitions, we get extra time if we can detected whistles.
That is why we use ffts where we look at energy in frequencies used by whistles.

The detection is propagated to the body blackboard and integrated into the dsd.
The needed audio common ros packages are put into a subrepo.
The behavior has been tested in sim and on the robot and the whistle detection on my machine.
image

Proposed changes

  • create a WhistleDetectedDecision
  • add a whistle callback and a whistle detected method to a capsule ( maybe the game status capsule?)
  • initialize the whistle detected callback in the body behavior
  • Put the whistle detection software into a ros node

It is not arm compatible rn, but that is a future problem.
This is because we need pipewire and the path where it is found is for x86.

Related issues

Solves #753

Checklist

  • Run pixi run build
  • Write documentation
  • Test on your machine
  • Test on the robot
  • Create issues for future work
  • Triage this PR and label it

val-ba and others added 2 commits February 28, 2026 13:21
@val-ba @EnigmaBellatrix
add prototype dataflow of whistle detection
48d852d 
Co-authored-by: EnigmaBellatrix <EnigmaBellatrix@users.noreply.github.com>
@val-ba
add whistle detector package
cbe8f5f
@github-project-automation github-project-automation Bot moved this to 🆕 New in Software Feb 28, 2026
@jaagut jaagut moved this from 🆕 New to 🏗 In progress in Software Mar 9, 2026
texhnolyze and others added 15 commits March 9, 2026 23:06
@texhnolyze
refactor(game_controller): only send ball PointStamped
574895f 
to `game_controller_hsl` as the new [Gamecontroller] only expectes an
`(x, y)` coordinate.

[Gamecontroller]: https://github.com/RoboCup-HumanoidSoccerLeague/GameController/
@val-ba
fix wrong package structure
3be6547
@val-ba
fix package naming
9538674
@val-ba
add whistle detection based on frequency bands
60b3fce
@val-ba
add launch files
3d3373f
@val-ba
add plugin dir for pipewire
1a3eef4
@val-ba
update dsd for whistle detection and decision
04457bf
@cleWu03 @texhnolyze
added publishers for gamecontroller response with dynamic data
bf5c422
@cleWu03 @texhnolyze
update pixi.toml
9d0a396
@cleWu03 @texhnolyze
pixi toml update 2.0
bb496bc
@cleWu03 @texhnolyze
pixi toml upfate 3.0
f59771f
@cleWu03 @texhnolyze
game_state_capsule updated
47d13fb
@cleWu03 @texhnolyze
integration of new gamestate msg in behavior, secondary state is stil…
9bfb6df 
…l missing
@texhnolyze
refactor(game_controller): only send ball PointStamped
1c162a6 
to `game_controller_hsl` as the new [Gamecontroller] only expectes an
`(x, y)` coordinate.

[Gamecontroller]: https://github.com/RoboCup-HumanoidSoccerLeague/GameController/
@cleWu03
added secondary state stuff to Behaviour
056339b
val-ba and others added 11 commits March 11, 2026 14:19
@val-ba
create audio_common folder in lib
2167482
@cleWu03
fix for falling after stop state, is now integrated later in hcm and …
ae5c91b 
…in bodybehaviour too
@texhnolyze
fix(git-subrepo): add git-subrepo to pixi
ce9beaf 
and exlude `src/lib` from formatting/linting
@texhnolyze
git subrepo pull src/lib/game_controller_hsl --force
3fe2b25 
subrepo:
  subdir:   "src/lib/game_controller_hsl"
  merged:   "2fa5731b6"
upstream:
  origin:   "git@github.com:bit-bots/game_controller_hsl.git"
  branch:   "rolling"
  commit:   "2fa5731b6"
git-subrepo:
  version:  "0.4.9"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "ea10886"
@texhnolyze
fix(deploy): use taskset to run build on 10 cpu cores
a00690f
@texhnolyze
fix(behavior): change BodyBehavior back to entrypoint (-->)
3da6740
@jaagut
jack camera calibration
328a9df
@jaagut
Merge branch 'Gamecontroller-update-for-HSL' of github.com:bit-bots/b…
2781b79 
…itbots_main into Gamecontroller-update-for-HSL
@val-ba
Merge branch 'Gamecontroller-update-for-HSL' into go-first-game
e173c03
@val-ba
Merge branch 'feature/whistle_detection' into go-first-game
0666c53
@val-ba
be more conservative with whistle threshold
903670e
@val-ba val-ba marked this pull request as ready for review March 11, 2026 18:45
@val-ba val-ba requested review from cleWu03 and jaagut March 11, 2026 18:45
@texhnolyze
fix(pre-commit): always exclude src/lib
f103e55
@texhnolyze
git subrepo clone (merge) git@github.com:bit-bots/bio_ik.git src/lib/…
1813faa 
…bio_ik

subrepo:
  subdir:   "src/lib/bio_ik"
  merged:   "ffec29f7a"
upstream:
  origin:   "git@github.com:bit-bots/bio_ik.git"
  branch:   "ros2"
  commit:   "ffec29f7a"
git-subrepo:
  version:  "0.4.9"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "ea10886"
@texhnolyze
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texhnolyze commented Mar 12, 2026

I'd like to unravel this to make it easier for everyone to review it and have a less messy git history tomorrow.
I've started with #767 doing this for the game controller branch and would then create a new branch once that is finished/integrated cherry-picking your commits.
But let's use this tomorrow in the game, as you already merged the other branches in here 👍

@jaagut
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jaagut commented Mar 12, 2026

image

@jaagut
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jaagut commented Mar 12, 2026

image

@texhnolyze
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texhnolyze commented Mar 12, 2026

Superseeded by #775

@texhnolyze texhnolyze closed this Mar 12, 2026
@github-project-automation github-project-automation Bot moved this from 🏗 In progress to ✅ Done in Software Mar 12, 2026
@texhnolyze texhnolyze deleted the feature/whistle_detection branch March 12, 2026 19:57
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@texhnolyze texhnolyze Awaiting requested review from texhnolyze

@Flova Flova Awaiting requested review from Flova

@jaagut jaagut Awaiting requested review from jaagut

@cleWu03 cleWu03 Awaiting requested review from cleWu03

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@val-ba val-ba

@EnigmaBellatrix EnigmaBellatrix

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7 participants

@val-ba @texhnolyze @jaagut @Flova @EnigmaBellatrix @cleWu03 @confusedlama