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

@@ -84,6 +84,12 @@ def get_seconds_since_unpenalized(self) -> float:
 
     def get_is_penalized(self) -> bool:
         return self.gamestate.penalized
+
+    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

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

@@ -0,0 +1,66 @@
+from bitbots_blackboard.body_blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
+from game_controller_hsl_interfaces.msg import GameState
+
+
+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/main.dsd

@@ -108,6 +108,27 @@ $DoOnce
                 SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second
                 THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition
 
+#PlacingWithoutTeamCom
+$DoOnce
+    NOT_DONE --> @ForgetBall, @LookAtFieldFeatures
+    DONE --> $ConfigRole
+        GOALIE --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @GoToBlockPosition
+        ELSE --> $BallSeen
+            NO --> $SecondaryStateTeamDecider
+                OUR --> #SearchBall
+                OTHER --> @AvoidBallActive, @LookAtFieldFeatures, @WalkInPlace + duration:2, @GoToRelativePosition + x:1 + y:0 + t:0, @Stand
+            //TODO
+            YES --> $NumberPenalizedTeamMates
+                ZERO
+                ONE
+                TWO
+                THREE
+                FOUR
+            YES --> $RankToBallNoGoalieWithoutTeamCom
+                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
 
@@ -130,15 +151,43 @@ $BallSeen
                     SECOND --> #SupporterRole
                     THIRD --> #DefensePositioning
 
+#NormalBehaviorWithoutTeamCom
+$BallSeen
+    NO --> $ConfigRole
+        GOALIE --> #RolePositionWithPause
+        ELSE --> #SearchBall
+    YES --> $KickOffTimeUp
+        NO_NORMAL --> #StandAndLook
+        NO_FREEKICK --> #PlacingWithoutTeamCom
+        YES --> $ConfigRole
+            GOALIE --> #GoalieBehavior
+            ELSE --> $CountActiveRobotsWithoutGoalie
+                ONE --> $RankToBallNoGoalie
+                    FIRST --> #StrikerRole
+                    SECOND --> #DefensePositioning
+                ELSE --> $RankToBallNoGoalie
+                    FIRST --> #StrikerRole
+                    SECOND --> #SupporterRole
+                    THIRD --> #DefensePositioning
+
 #PlayingBehavior
-$SecondaryStateDecider
-    PENALTYSHOOT --> #PenaltyShootoutBehavior
-    TIMEOUT --> #StandAndLook
-    ELSE --> $SecondaryStateTeamDecider
-        OUR --> #NormalBehavior
-        OTHER --> #Placing
-    NORMAL --> #NormalBehavior
-    OVERTIME --> #NormalBehavior
+$TeamComLimitReached
+    YES --> $SecondaryStateDecider
+        PENALTYSHOOT --> #PenaltyShootoutBehavior
+        TIMEOUT --> #StandAndLook
+        ELSE --> $SecondaryStateTeamDecider
+            OUR --> #NormalBehaviorWithoutTeamCom
+            OTHER --> #PlacingWithoutTeamCom
+        NORMAL --> #NormalBehaviorWithoutTeamCom
+        OVERTIME --> #NormalBehaviorWithoutTeamCom
+    NO --> $SecondaryStateDecider
+        PENALTYSHOOT --> #PenaltyShootoutBehavior
+        TIMEOUT --> #StandAndLook
+        ELSE --> $SecondaryStateTeamDecider
+            OUR --> #NormalBehavior
+            OTHER --> #Placing
+        NORMAL --> #NormalBehavior
+        OVERTIME --> #NormalBehavior
 
 -->BodyBehavior
 $IsPenalized

src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py

@@ -50,8 +50,10 @@ def __init__(self):
         self.socket_communication = SocketCommunication(self.node, self.logger, self.team_id, self.player_id)
 
         self.rate: int = self.node.get_parameter("rate").value
+        self.reduced_rate: int = self.node.get_parameter("reduced_rate").value
         self.lifetime: int = self.node.get_parameter("lifetime").value
         self.avg_walking_speed: float = self.node.get_parameter("avg_walking_speed").value
+        self.rate_is_reduced: bool = False
 
         self.topics = get_parameter_dict(self.node, "topics")
         self.map_frame: str = self.node.get_parameter("map_frame").value
@@ -66,7 +68,7 @@ def __init__(self):
         self.run_spin_in_thread()
         self.try_to_establish_connection()
 
-        self.node.create_timer(1 / self.rate, self.send_message, callback_group=MutuallyExclusiveCallbackGroup())
+        self.create_timer(self.rate)
         self.receive_forever()
 
     def spin(self):
@@ -263,6 +265,11 @@ def handle_message(self, string_message: bytes):
         self.team_data_publisher.publish(team_data)
 
     def send_message(self):
+
+        if not self.rate_is_reduced:
+            if self.gamestate is not None and self.gamestate.secs_remaining > 180 and (self.gamestate.message_budget / self.gamestate.secs_remaining) < 11.2:
+                self.reduce_rate()
+
         if not self.is_robot_allowed_to_send_message():
             self.logger.debug("Robot is not allowed to send message")
             return
@@ -301,7 +308,15 @@ def should_message_be_discarded(self, message: Proto.Message) -> bool:
         return is_own_message or is_message_from_oposite_team
 
     def is_robot_allowed_to_send_message(self) -> bool:
-        return self.gamestate is not None and not self.gamestate.penalized
+        #a penalized robot doesn't need to publish
+        if self.gamestate is not None and not self.gamestate.penalized:
+            return False
+        #if we are close to our message budget, we dont want to continue publishing
+        #the budget smaller 40 as stop definition makes sure we have 10 msg per robot left in case of some delay in the communication with the game controller 
+        if self.gamestate is not None and (self.gamestate.message_budget < 40):
+            return False
+
+        return True
 
     def get_current_time(self) -> Time:
         return self.node.get_clock().now()
@@ -313,7 +328,29 @@ def extract_orientation_yaw_angle(self, quaternion: Quaternion):
 
     def convert_to_euler(self, quaternion: Quaternion):
         return transforms3d.euler.quat2euler([quaternion.w, quaternion.x, quaternion.y, quaternion.z])
-
+
+    def reduce_rate(self):
+        self.timer.cancel()
+        self.create_timer(self.reduced_rate)
+        self.rate_is_reduced = True
+        self.logger.warning("Team communication: message sending rate is reduced now")
+
+    def create_timer(self, rate: int):
+        self.timer = self.node.create_timer(1 / rate, self.send_message, callback_group=MutuallyExclusiveCallbackGroup())
+
+    def should_reduce_rate(self):
+        # we are allowed to send 2.5 msg per second on average with each robot (12000 with 4 robots in a 1200 sekonds game)
+        # the msg_left_linear_rate is the amount of messages we would send if we send exactly with this 2.5 msg per sec per robot rate
+        # once our actual msg budget is below this linear rate we tend to send more msg then allowed and should reduce our sending rate
+        if self.game_started_recently():
+            return False
+
+        msg_left_linear_rate = (self.gamestate.first_half * 600 + self.gamestate.secs_remaining) * 4 * 2.5
+        return msg_left_linear_rate > self.gamestate.message_budget
+
+    def game_started_recently(self):
+        #true in the first 60 seconds of the game
+        return self.gamestate.first_half and self.gamestate.secs_remaining > 540
 
 def main():
     rclpy.init(args=None)

src/bitbots_team_communication/bitbots_team_communication/config/team_communication_config.yaml

@@ -18,6 +18,8 @@ team_comm:
 
     # Rate of published messages in Hz
     rate: 2
+    # Rate of published messages in Hz, when rate is reduced
+    reduced_rate: 2
 
     # average walking speed in [m/s]
     avg_walking_speed: 0.2