Whistle detection

.gitignore

@@ -51,7 +51,6 @@ fabric.properties
 ### ROS template
 build/
 bin/
-lib/
 msg_gen/
 srv_gen/
 msg/*Action.msg

.pre-commit-config.yaml

@@ -1,3 +1,7 @@
+exclude: |
+  ^src/lib/|
+  ^src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/
+
 repos:
   - repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.9.6
@@ -6,15 +10,17 @@ repos:
         args:
           - "--fix"
           - "--exit-non-zero-on-fix"
+          - "--exclude=src/lib/**"
       - id: ruff-format
+        args:
+          - "--exclude=src/lib/**"
   - repo: https://github.com/pocc/pre-commit-hooks
     rev: v1.3.5
     hooks:
       - id: clang-format
         args:
           - "-i"
       - id: cppcheck
-        exclude: &exclude_robocup_protocol ^src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/
         args:
           - "--inline-suppr"
           - "--suppress=missingIncludeSystem"
@@ -28,13 +34,11 @@ repos:
     hooks:
       - id: cmake-format
       - id: cmake-lint
-        exclude: *exclude_robocup_protocol
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
     hooks:
       - id: check-merge-conflict
       - id: check-toml
       - id: check-xml
       - id: check-yaml
-        exclude: *exclude_robocup_protocol
       - id: detect-private-key

pixi.toml

@@ -3,7 +3,7 @@ authors = ["Florian Vahl <7vahl@informatik.uni-hamburg.de>"]
 channels = [
     "https://data.bit-bots.de/conda/",  # For self hosted ROS / robostack packages
     "https://data.bit-bots.de/conda-misc/output/",  # For self hosted misc (non-ROS, neural network weights, ...) packages
-    "robostack-jazzy",  # Robostack jazzy channel for ROS packages
+    "robostack-jazzy", # Robostack jazzy channel for ROS packages
     "conda-forge"  # General conda-forge channel
 ]
 name = "bitbots_main"
@@ -160,12 +160,11 @@ ros-jazzy-soccer-vision-3d-rviz-markers = ">=1.0.0,<2"
 ros-jazzy-soccer-vision-3d-msgs = ">=1.0.0,<2"
 ros-jazzy-soccer-vision-attribute-msgs = ">=1.0.0,<2"
 ros-jazzy-rot-conv = ">=1.1.0,<2"
-ros-jazzy-bio-ik = ">=2.0.0,<3"
+#ros-jazzy-bio-ik = ">=2.0.0,<3"
 ros-jazzy-bio-ik-msgs = ">=0.0.0,<0.0.1"
 ros-jazzy-biped-interfaces = ">=0.0.0,<0.0.1"
 ros-jazzy-bitbots-tf-buffer = ">=1.0.0,<2"
 ros-jazzy-ros2-python-extension = ">=1.0.0,<2"
-ros-jazzy-audio-common = ">=0.3.15,<0.4"
 ros-jazzy-dynamic-stack-decider = ">=0.5.3,<0.6"
 ros-jazzy-dynamic-stack-decider-visualization = ">=0.2.1,<0.3"
 ros-jazzy-game-controller-hl = ">=1.1.0,<2"
@@ -197,6 +196,12 @@ setuptools = "==68.1.2"  # Pinning setuptools to avoid issues with colcon build
 git = ">=2.52.0,<3"  # Otherwise the system git might be used causing ABI issues
 curl = ">=8.17.0,<9"
 make = ">=4.4.1,<5"  # To avoid issues in the CI
+libflac = "==1.4.3"
+portaudio = ">=19.7.0,<20"
+ros-jazzy-ament-cmake-clang-format = ">=0.17.3,<0.18"
+ros-jazzy-rosidl-runtime-c = ">=4.6.7,<5"
+alsa-plugins = ">=1.2.12,<2"
+git-subrepo = ">=0.4.9,<0.5"
 
 [feature.ros.target.linux-64.dependencies]
 # For now Webots is only packaged for x86-64 Linux
@@ -206,9 +211,11 @@ webots = ">=2022b,<2023a"
 clang-format = ">=21.1.0,<22"
 cppcheck = ">=2.18.3,<3"
 pre-commit = ">=4.4.0,<5"
+git-subrepo = ">=0.4.9,<0.5"
 
 [feature.ros.pypi-dependencies]
 # These are are pypi dependencies needed for our ROS 2 packages
+construct = ">=2.10.56, <3"
 syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
@@ -233,6 +240,7 @@ 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"
+ALSA_PLUGIN_DIR = "/usr/lib/x86_64-linux-gnu/alsa-lib"
 
 [feature.ros.activation]
 scripts = [
@@ -244,3 +252,4 @@ scripts = [
 default = ["ros", "format"]  # Full development environment (excluding robot-only deps)
 format = ["format"]  # Format only environment
 robot = ["ros", "format", "robot"]  # Robot environment with additional robot-only dependencies
+

scripts/deploy/tasks/build.py

@@ -62,7 +62,7 @@ def _build(self, connections: Group) -> GroupResult:
         :return: The results of the task.
         """
         print_debug("Building packages")
-        cmd = f"cd {self._remote_workspace} && pixi run build {self._package}"
+        cmd = f"cd {self._remote_workspace} && chrt -r 1 taskset -c 0-9 pixi run build {self._package}"
 
         print_debug(f"Calling '{cmd}'")
         try:

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

@@ -1,7 +1,9 @@
 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 rclpy.time import Time
 
 from bitbots_blackboard.capsules import AbstractBlackboardCapsule
 
@@ -12,33 +14,46 @@ class GameStatusCapsule(AbstractBlackboardCapsule):
     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
         self.last_goal_from_us_time = -86400.0
         self.last_goal_time = -86400.0
         self.free_kick_kickoff_team: Optional[bool] = None
+        self.last_timestep_whistle_detected: Time = self._node.get_clock().now()
+        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_gamestate(self) -> int:
-        return self.gamestate.game_state
+    def get_game_state(self) -> int:
+        # Init, ready, set, playing, finished
+        return self.gamestate.main_state
 
-    def get_secondary_state(self) -> int:
-        return self.gamestate.secondary_state
+    def get_game_phase(self) -> int:
+        # Timeout, Normal, Extratime, Penaltyshoot
+        return self.gamestate.game_phase
 
-    def get_secondary_state_mode(self) -> int:
-        return self.gamestate.secondary_state_mode
+    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:
-        return self.gamestate.secondary_state_team
+        # Team ID, wer in set Play den Ball hat
+        return self.gamestate.kicking_team
 
     def has_kickoff(self) -> bool:
-        return self.gamestate.has_kick_off
+        # 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.secondary_state == GameState.STATE_PENALTYKICK
-            or self.gamestate.secondary_state == GameState.STATE_PENALTYSHOOT
-        ) and self.gamestate._secondary_state_team == self.team_id
+            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
@@ -55,26 +70,17 @@ def get_seconds_since_any_goal(self) -> float:
     def get_seconds_remaining(self) -> float:
         # Time from the message minus time passed since receiving it
         return max(
-            self.gamestate.seconds_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_seconds_remaining
-            - (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_last_drop_ball(self) -> Optional[float]:
-        """Returns the seconds since the last drop in"""
-        if self.gamestate.drop_in_time == -1:
-            return None
-        else:
-            # Time from the message plus seconds passed since receiving it
-            return self.gamestate.drop_in_time + (self._node.get_clock().now().nanoseconds / 1e9 - self.last_update)
-
     def get_seconds_since_unpenalized(self) -> float:
         return self._node.get_clock().now().nanoseconds / 1e9 - self.unpenalized_time
 
@@ -87,9 +93,6 @@ def received_gamestate(self) -> bool:
     def get_team_id(self) -> int:
         return self.team_id
 
-    def get_red_cards(self) -> int:
-        return self.gamestate.team_mates_with_red_card
-
     def gamestate_callback(self, gamestate_msg: GameState) -> None:
         if self.gamestate.penalized and not gamestate_msg.penalized:
             self.unpenalized_time = self._node.get_clock().now().nanoseconds / 1e9
@@ -101,21 +104,39 @@ 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
 
+        self.game_controller_stop = gamestate_msg.stopped
+
+        self.stop_pub.publish(Bool(data=self.game_controller_stop))
+
+        """Anstoß im Falle von Overtime jetzt erstmal nicht genauer geregelt
         if (
-            gamestate_msg.secondary_state_mode == 2
-            and self.gamestate.secondary_state_mode != 2
-            and gamestate_msg.game_state == GameState.GAMESTATE_PLAYING
+            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.secondary_state_team
+            self.free_kick_kickoff_team = gamestate_msg.kicking_team
+
 
-        if gamestate_msg.secondary_state_mode != 2 and gamestate_msg.secondary_seconds_remaining == 0:
+        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
+
+    def whistle_detection_callback(self, _) -> None:  # MSG type is assumed to be bool for now, prototyping
+        self.last_timestep_whistle_detected = self._node.get_clock().now() # This stays true after the first whistle detection which is incorrect

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):
@@ -16,18 +16,28 @@ def perform(self, reevaluate=False):
         :return:
         """
 
-        game_state_number = self.blackboard.gamestate.get_gamestate()
+        game_state_number = self.blackboard.gamestate.get_game_state()
+        is_stopped = self.blackboard.gamestate.is_stopped()
         # todo this is a temporary hack to make GUI work
-        if game_state_number == GameState.GAMESTATE_INITIAL:
+        if is_stopped:
+            return "STOPPED"
+        elif game_state_number == GameState.STATE_INITIAL:
             return "INITIAL"
-        elif game_state_number == GameState.GAMESTATE_READY:
+        elif game_state_number == GameState.STATE_READY:
             return "READY"
-        elif game_state_number == GameState.GAMESTATE_SET:
+        elif game_state_number == GameState.STATE_SET:
             return "SET"
-        elif game_state_number == GameState.GAMESTATE_PLAYING:
+        elif game_state_number == GameState.STATE_PLAYING:
             return "PLAYING"
-        elif game_state_number == GameState.GAMESTATE_FINISHED:
+        elif game_state_number == GameState.STATE_FINISHED:
             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):
         """