team_com disallowed robots to send messages if not intended, and reduces the rate if we get close to the budget end

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

@@ -22,6 +22,8 @@ def __init__(self, node, blackboard=None):
         self.free_kick_kickoff_team: bool | None = None
         self.game_controller_stop: bool = False
         self.last_timestep_whistle_detected: Time | None = None
+        self.team_com_limit_has_reached: bool = False
+        self.unpenalized_after_team_com_stop: bool = False
         # publish stopped msg for hcm
         self.stop_pub = node.create_publisher(Bool, "game_controller/stop_msg", 1)
 
@@ -84,16 +86,30 @@ def get_seconds_since_unpenalized(self) -> float:
 
     def get_is_penalized(self) -> bool:
         return self.gamestate.penalized
+
+    def get_unpenalized_after_team_com_stop(self) -> bool:
+        return self.unpenalized_after_team_com_stop
+
+    def get_penalized_team_mates(self) -> int:
+        return self.gamestate.team_mates_with_penalty
+
+    def get_penalized_rivals(self) -> int:
+        return self.gamestate.rivals_with_penalty
 
     def received_gamestate(self) -> bool:
         return self.last_update != 0.0
 
     def get_team_id(self) -> int:
         return self.team_id
+
+    def get_team_com_limit_has_reached(self) -> bool:
+        return self.team_com_limit_has_reached
 
     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
+            if self.team_com_limit_has_reached:
+                self.unpenalized_after_team_com_stop = True
 
         if gamestate_msg.own_score > self.gamestate.own_score:
             self.last_goal_from_us_time = self._node.get_clock().now().nanoseconds / 1e9
@@ -106,6 +122,8 @@ def gamestate_callback(self, gamestate_msg: GameState) -> None:
 
         self.stop_pub.publish(Bool(data=self.game_controller_stop))
 
+        self.team_com_limit_has_reached = gamestate_msg.message_budget < 40
+
         """Anstoß im Falle von Overtime jetzt erstmal nicht genauer geregelt
         if (
             gamestate_msg.main_state == GameState.STATE_SET

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py

@@ -68,6 +68,16 @@ def __init__(self, node, blackboard):
         self.data_timeout: float = float(self._node.get_parameter("team_data_timeout").value)
         self.ball_max_covariance: float = float(self._node.get_parameter("ball_max_covariance").value)
 
+        # --- Save informations for handling decisions after team com has switched off ---
+        # The last rank to ball result before team_com limit was reached
+        self.last_rank_to_ball_with_team_com: int = -1
+        # Was goalie active before team_com limit was reached
+        self.was_goalie_active: bool = True
+        # Was goalie handling the ball before team_com limit was reached
+        self.was_goalie_handling_ball_with_team_com: bool = False
+        # The last number of active field players before team_com limit was reached
+        self.last_number_of_active_players: int = -1
+
     @cached_capsule_function
     def time(self) -> Time:
         """Returns the current time of the node, this is its own function so it can be cached during the decision loop."""
@@ -93,7 +103,9 @@ def is_goalie_handling_ball(self) -> bool:
                 and data.strategy.role == Strategy.ROLE_GOALIE
                 and data.strategy.action in [Strategy.ACTION_GOING_TO_BALL, Strategy.ACTION_KICKING]
             ):
+                self.was_goalie_handling_ball_with_team_com = True
                 return True
+        self.was_goalie_handling_ball_with_team_com = False
         return False
 
     @cached_capsule_function
@@ -138,7 +150,9 @@ def team_rank_to_ball(
                     )
         for rank, distance in enumerate(sorted(distances)):
             if own_ball_distance < distance:
+                self.last_rank_to_ball_with_team_com = rank + 1
                 return rank + 1
+        self.last_rank_to_ball_with_team_com = len(distances) + 1
         return len(distances) + 1
 
     def set_action(self, action: int) -> None:
@@ -151,6 +165,18 @@ def set_action(self, action: int) -> None:
 
     def get_action(self) -> tuple[int, float]:
         return self.strategy.action, self.action_update
+
+    def get_was_goalie_handling_ball(self) -> bool:
+        return self.was_goalie_handling_ball_with_team_com
+
+    def get_was_goalie_active(self) -> bool:
+        return self.was_goalie_active
+
+    def get_last_rank_with_team_com(self) -> int:
+        return self.last_rank_to_ball_with_team_com
+
+    def get_last_number_active_player(self) -> int:
+        return self.last_number_of_active_players
 
     def set_role(self, role: Literal["goalie", "offense", "defense"]) -> None:
         """Set the role of this robot in the team
@@ -195,7 +221,9 @@ def is_not_goalie(team_data: TeamData) -> bool:
             team_data_infos = filter(is_not_goalie, team_data_infos)  # type: ignore[assignment]
 
         # Count valid team data infos (aka robots with valid team data)
-        return sum(map(self.is_valid, team_data_infos))
+        active_players = sum(map(self.is_valid, team_data_infos))
+        self.last_number_of_active_players = active_players
+        return active_players
 
     @cached_capsule_function
     def get_is_goalie_active(self) -> bool:
@@ -209,7 +237,9 @@ def is_a_goalie(team_data: TeamData) -> bool:
         team_data_infos = filter(is_a_goalie, team_data_infos)  # type: ignore[assignment]
 
         # Count valid team data infos (aka robots with valid team data)
-        return sum(map(self.is_valid, team_data_infos)) == 1
+        goalie_count = sum(map(self.is_valid, team_data_infos))
+        self.was_goalie_active = goalie_count == 1
+        return goalie_count == 1
 
     def get_own_time_to_ball(self) -> float:
         return self.own_time_to_ball

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/closest_to_ball.py

@@ -28,9 +28,14 @@ def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
-        my_time_to_ball = self.blackboard.team_data.get_own_time_to_ball()
-        rank = self.blackboard.team_data.team_rank_to_ball(my_time_to_ball, count_goalies=True, use_time_to_ball=True)
-        self.publish_debug_data("time to ball", my_time_to_ball)
+        if self.blackboard.gamestate.get_team_com_limit_has_reached():
+            rank = self.blackboard.team_data.get_last_rank_with_team_com()
+        else:
+            my_time_to_ball = self.blackboard.team_data.get_own_time_to_ball()
+            rank = self.blackboard.team_data.team_rank_to_ball(
+                my_time_to_ball, count_goalies=True, use_time_to_ball=True
+            )
+            self.publish_debug_data("time to ball", my_time_to_ball)
         self.publish_debug_data("Rank to ball", rank)
         if rank == 1:
             return "YES"
@@ -47,9 +52,14 @@ def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
-        my_time_to_ball = self.blackboard.team_data.get_own_time_to_ball()
-        rank = self.blackboard.team_data.team_rank_to_ball(my_time_to_ball, count_goalies=False, use_time_to_ball=True)
-        self.publish_debug_data("time to ball", my_time_to_ball)
+        if self.blackboard.gamestate.get_team_com_limit_has_reached():
+            rank = self.blackboard.team_data.get_last_rank_with_team_com()
+        else:
+            my_time_to_ball = self.blackboard.team_data.get_own_time_to_ball()
+            rank = self.blackboard.team_data.team_rank_to_ball(
+                my_time_to_ball, count_goalies=False, use_time_to_ball=True
+            )
+            self.publish_debug_data("time to ball", my_time_to_ball)
         self.publish_debug_data("Rank to ball", rank)
         if rank == 1:
             return "FIRST"

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/count_active_players_without_goalie.py

@@ -13,7 +13,10 @@ def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
-        number_of_active_teammates = self.blackboard.team_data.get_number_of_active_field_players(False)
+        if self.blackboard.gamestate.get_team_com_limit_has_reached():
+            number_of_active_teammates = self.blackboard.team_data.get_last_number_active_player()
+        else:
+            number_of_active_teammates = self.blackboard.team_data.get_number_of_active_field_players(False)
         self.publish_debug_data("Number of active Teammates", number_of_active_teammates)
         if number_of_active_teammates == 0:
             return "ZERO"

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/goalie_active.py

@@ -13,10 +13,16 @@ def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
-        if self.blackboard.team_data.get_is_goalie_active():
-            return "YES"
+        if self.blackboard.gamestate.get_team_com_limit_has_reached():
+            if self.blackboard.team_data.get_was_goalie_active():
+                return "YES"
+            else:
+                return "NO"
         else:
-            return "NO"
+            if self.blackboard.team_data.get_is_goalie_active():
+                return "YES"
+            else:
+                return "NO"
 
     def get_reevaluate(self):
         return True

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/goalie_handling_ball.py

@@ -12,10 +12,16 @@ def perform(self, reevaluate=False):
         """
         It is determined if the goalie is currently going towards the ball
         """
-        if self.blackboard.team_data.is_goalie_handling_ball():
-            return "YES"
+        if self.blackboard.gamestate.get_team_com_limit_has_reached():
+            if self.blackboard.team_data.get_was_goalie_handling_ball():
+                return "YES"
+            else:
+                return "NO"
         else:
-            return "NO"
+            if self.blackboard.team_data.is_goalie_handling_ball():
+                return "YES"
+            else:
+                return "NO"
 
     def get_reevaluate(self):
         return True

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/is_penalized.py

@@ -15,6 +15,9 @@ def perform(self, reevaluate=False):
         self.publish_debug_data("Seconds since unpenalized", self.blackboard.gamestate.get_seconds_since_unpenalized())
         if self.blackboard.gamestate.get_is_penalized():
             return "YES"
+        elif self.blackboard.gamestate.get_unpenalized_after_team_com_stop():
+            self.publish_debug_data("Reason", "Unpenalized after team com limit")
+            return "UNPENALIZED_AFTER_TEAM_COM_LIMIT"
         elif self.blackboard.gamestate.get_seconds_since_unpenalized() < 1:
             self.publish_debug_data("Reason", "Just unpenalized")
             return "JUST_UNPENALIZED"

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/number_penalized_players.py

@@ -0,0 +1,65 @@
+from bitbots_blackboard.body_blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
+
+
+class NumberPenalizedTeamMates(AbstractDecisionElement):
+    blackboard: BodyBlackboard
+
+    def __init__(self, blackboard, dsd, parameters):
+        super().__init__(blackboard, dsd, parameters)
+
+    def perform(self, reevaluate=False):
+        """
+        Return number of penalized team mates
+        :param reevaluate:
+        :return:
+        """
+        game_state_penalized_team_mates = self.blackboard.gamestate.get_penalized_team_mates()
+
+        if game_state_penalized_team_mates == 4:
+            return "FOUR"
+        elif game_state_penalized_team_mates == 3:
+            return "THREE"
+        elif game_state_penalized_team_mates == 2:
+            return "TWO"
+        elif game_state_penalized_team_mates == 1:
+            return "ONE"
+        else:
+            return "ZERO"
+
+    def get_reevaluate(self):
+        """
+        Game state can change during the game
+        """
+        return True
+
+class NumberPenalizedRivals(AbstractDecisionElement):
+    blackboard: BodyBlackboard
+
+    def __init__(self, blackboard, dsd, parameters):
+        super().__init__(blackboard, dsd, parameters)
+
+    def perform(self, reevaluate=False):
+        """
+        Return number of penalized rivals
+        :param reevaluate:
+        :return:
+        """
+        game_state_penalized_rivals = self.blackboard.gamestate.get_penalized_rivals()
+
+        if game_state_penalized_rivals == 4:
+            return "FOUR"
+        elif game_state_penalized_rivals == 3:
+            return "THREE"
+        elif game_state_penalized_rivals == 2:
+            return "TWO"
+        elif game_state_penalized_rivals == 1:
+            return "ONE"
+        else:
+            return "ZERO"
+
+    def get_reevaluate(self):
+        """
+        Game state can change during the game
+        """
+        return True

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/team_com_limit_reached.py

@@ -0,0 +1,18 @@
+from bitbots_blackboard.body_blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
+
+
+class TeamComLimitReached(AbstractDecisionElement):
+    blackboard: BodyBlackboard
+
+    def __init__(self, blackboard, dsd, parameters):
+        super().__init__(blackboard, dsd, parameters)
+
+    def perform(self, reevaluate=False):
+        if self.blackboard.gamestate.get_team_com_limit_has_reached():
+            return "YES"
+        else:
+            return "NO"
+
+    def get_reevaluate(self):
+        return True

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

@@ -76,11 +76,13 @@ $GoalieActive
     NO --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @GoToBlockPosition
 
 #SupporterRole
-$PassStarted
-    YES --> $BallSeen
-        YES --> @TrackBall, @ChangeAction + action:positioning, @AvoidBallActive, @GoToPassAcceptPosition
-        NO --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @AvoidBallActive, @GoToPassAcceptPosition
-    NO --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @AvoidBallActive, @GoToPassPreparePosition
+$TeamComLimitReached
+    YES --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @AvoidBallActive, @GoToPassPreparePosition
+    NO --> $PassStarted
+        YES --> $BallSeen
+            YES --> @TrackBall, @ChangeAction + action:positioning, @AvoidBallActive, @GoToPassAcceptPosition
+            NO --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @AvoidBallActive, @GoToPassAcceptPosition
+        NO --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @AvoidBallActive, @GoToPassPreparePosition
 
 #PenaltyShootoutBehavior
 $SecondaryStateTeamDecider
@@ -120,14 +122,23 @@ $BallSeen
         NO_FREEKICK --> #Placing
         YES --> $ConfigRole
             GOALIE --> #GoalieBehavior
-            ELSE --> $CountActiveRobotsWithoutGoalie
-                ONE --> $RankToBallNoGoalie
-                    FIRST --> #StrikerRole
-                    SECOND --> #DefensePositioning
-                ELSE --> $RankToBallNoGoalie
-                    FIRST --> #StrikerRole
-                    SECOND --> #SupporterRole
-                    THIRD --> #DefensePositioning
+            ELSE --> $TeamComLimitReached //this decision is only for better visualization in rqt
+                NO --> $CountActiveRobotsWithoutGoalie
+                    ONE --> $RankToBallNoGoalie
+                        FIRST --> #StrikerRole
+                        SECOND --> #DefensePositioning
+                    ELSE --> $RankToBallNoGoalie
+                        FIRST --> #StrikerRole
+                        SECOND --> #SupporterRole
+                        THIRD --> #DefensePositioning
+                YES --> $CountActiveRobotsWithoutGoalie
+                    ONE --> $RankToBallNoGoalie
+                        FIRST --> #StrikerRole
+                        SECOND --> #DefensePositioning
+                    ELSE --> $RankToBallNoGoalie
+                        FIRST --> #StrikerRole
+                        SECOND --> #SupporterRole
+                        THIRD --> #DefensePositioning
 
 #PlayingBehavior
 $SecondaryStateDecider
@@ -145,6 +156,7 @@ $IsPenalized
     JUST_UNPENALIZED --> $GameStateDecider
         INITIAL --> #Init
         ELSE --> #GetWalkreadyAndLocalize
+    UNPENALIZED_AFTER_TEAM_COM_LIMIT --> #DoNothing
     NO --> $GameStateDecider
         INITIAL --> #Init
         READY --> $AnyGoalScoreRecently + time:50