Use ros sports game state msg

bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py

@@ -4,8 +4,8 @@
 
 Provides information about the current game state.
 """
-from bitbots_msgs.msg import GameState
 from bitbots_utils.utils import get_parameters_from_other_node
+from game_controller_hl_interfaces.msg import GameState
 from rclpy.node import Node
 
 

bitbots_blackboard/package.xml

@@ -27,6 +27,7 @@
     <depend>tf_transformations</depend>
     <exec_depend>bio_ik_msgs</exec_depend>
     <exec_depend>bitbots_msgs</exec_depend>
+    <exec_depend>game_controller_hl_interfaces</exec_depend>
     <exec_depend>geometry_msgs</exec_depend>
     <exec_depend>sensor_msgs</exec_depend>
     <exec_depend>soccer_vision_3d_msgs</exec_depend>

bitbots_body_behavior/bitbots_body_behavior/body_behavior.py

@@ -13,9 +13,10 @@
 import rclpy
 import tf2_ros as tf2
 from ament_index_python import get_package_share_directory
-from bitbots_msgs.msg import GameState, RobotControlState, TeamData
+from bitbots_msgs.msg import RobotControlState, TeamData
 from bitbots_tf_listener import TransformListener
 from dynamic_stack_decider.dsd import DSD
+from game_controller_hl_interfaces.msg import GameState
 from geometry_msgs.msg import PoseWithCovarianceStamped, Twist, TwistWithCovarianceStamped
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.duration import Duration

bitbots_body_behavior/bitbots_body_behavior/decisions/game_state_decider.py

@@ -1,5 +1,5 @@
-from bitbots_msgs.msg import GameState
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
+from game_controller_hl_interfaces.msg import GameState
 
 from bitbots_blackboard.blackboard import BodyBlackboard
 

bitbots_body_behavior/bitbots_body_behavior/decisions/last_player.py

@@ -10,15 +10,15 @@ def __init__(self, blackboard, dsd, parameters=None):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
+        # Get nessesary data
         red_cards = self.blackboard.gamestate.get_red_cards()
         own_id = self.blackboard.misc.bot_id
-
-        # iterate through all red card states except the own one
-        for i in range(len(red_cards)):
-            if i != own_id:
-                if not red_cards[i]:
-                    return "NO"
-        return "YES"
+
+        # Use generator comprehension to check if all red cards are true except our own
+        if all(x for i, x in enumerate(red_cards) if i != own_id):
+            return "YES"
+        else:
+            return "NO"
 
     def get_reevaluate(self):
         return True

bitbots_body_behavior/bitbots_body_behavior/decisions/secondary_state_decider.py

@@ -1,5 +1,5 @@
-from bitbots_msgs.msg import GameState
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
+from game_controller_hl_interfaces.msg import GameState
 
 from bitbots_blackboard.blackboard import BodyBlackboard
 

bitbots_body_behavior/package.xml

@@ -19,6 +19,7 @@
   <depend>bitbots_msgs</depend>
   <depend>bitbots_utils</depend>
   <depend>dynamic_stack_decider</depend>
+  <depend>game_controller_hl_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>python3-numpy</depend>
   <depend>rclpy</depend>
@@ -27,7 +28,6 @@
   <depend>tf_transformations</depend>
   <depend>tf2</depend>
 
-
   <export>
     <rosdoc config="rosdoc.yaml"/>
     <bitbots_documentation>