Merge branch 'main' into feature/dev_container

.pre-commit-config.yaml

@@ -6,10 +6,7 @@ repos:
         args:
           - "--fix"
           - "--exit-non-zero-on-fix"
-  - repo: https://github.com/psf/black
-    rev: 23.10.0  # keep this version for Ubuntu support
-    hooks:
-      - id: black
+      - id: ruff-format
   - repo: https://github.com/pocc/pre-commit-hooks
     rev: v1.3.5
     hooks:
@@ -28,3 +25,11 @@ repos:
     hooks:
       - id: cmake-format
       - id: cmake-lint
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: detect-private-key

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
-    "autoDocstring.docstringFormat": "sphinx",
+    "autoDocstring.docstringFormat": "sphinx-notypes",
+    "autoDocstring.startOnNewLine": true,
     "cSpell.language": "en,de-de,lorem",
     "cSpell.words": [
         "ansible",

bitbots_behavior/bitbots_blackboard/package.xml

@@ -15,10 +15,12 @@
 
     <maintainer email="5fiedler@informatik.uni-hamburg.de">Niklas Fiedler</maintainer>
     <maintainer email="info@bit-bots.de">Hamburg Bit-Bots</maintainer>
-    <author email="info@bit-bots.de">Hamburg Bit-Bots</author>
 
     <license>MIT</license>
 
+    <author email="info@bit-bots.de">Hamburg Bit-Bots</author>
+
+
     <build_depend>bitbots_docs</build_depend>
     <depend>bitbots_tf_listener</depend>
     <depend>bitbots_utils</depend>

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/dribble_forward.py

@@ -7,7 +7,7 @@
 class DribbleForward(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.max_speed_x = self.blackboard.config["dribble_max_speed_x"]
         self.min_speed_x = -0.1

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/get_walkready.py

@@ -8,7 +8,7 @@
 class GetWalkready(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.direction = "walkready"
         self.first_perform = True

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to.py

@@ -52,7 +52,7 @@ def perform(self, reevaluate=False):
 class GoToAbsolutePosition(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         """Go to an absolute position on the field"""
         super().__init__(blackboard, dsd)
         self.point = parameters
@@ -71,7 +71,7 @@ def perform(self, reevaluate=False):
 
 
 class GoToOwnGoal(GoToAbsolutePosition):
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         """Go to the own goal"""
         super().__init__(blackboard, dsd, parameters)
         self.point = (
@@ -82,7 +82,7 @@ def __init__(self, blackboard, dsd, parameters=None):
 
 
 class GoToEnemyGoal(GoToAbsolutePosition):
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         """Go to the enemy goal"""
         super().__init__(blackboard, dsd, parameters)
         self.point = (
@@ -93,7 +93,7 @@ def __init__(self, blackboard, dsd, parameters=None):
 
 
 class GoToCenterpoint(GoToAbsolutePosition):
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         """Go to the center of the field and look towards the enemy goal"""
         super().__init__(blackboard, dsd, parameters)
         self.point = 0, 0, 0

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_ball.py

@@ -10,7 +10,7 @@
 class GoToBall(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
         if "target" not in parameters.keys():

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_block_position.py

@@ -6,7 +6,7 @@
 class GoToBlockPosition(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.block_position_goal_offset = self.blackboard.config["block_position_goal_offset"]
         self.block_position_gradient_factor = self.blackboard.config["block_position_gradient_factor"]

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_corner_kick_position.py

@@ -10,7 +10,7 @@
 class GoToCornerKickPosition(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
         # optional parameter which goes into the block position at a certain distance to the ball

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_defense_position.py

@@ -11,7 +11,7 @@
 class GoToDefensePosition(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
         # Also apply offset from the ready positions to the defense positions

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_pass_position.py

@@ -7,7 +7,7 @@
 class AbstractGoToPassPosition(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, accept, parameters=None):
+    def __init__(self, blackboard, dsd, accept, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.max_x = self.blackboard.config["supporter_max_x"]
         self.pass_pos_x = self.blackboard.config["pass_position_x"]
@@ -52,7 +52,7 @@ class GoToPassPreparePosition(AbstractGoToPassPosition):
     Go to a position 1m left or right from the ball (whichever is closer) as preparation for a pass
     """
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, False, parameters)
 
 
@@ -61,5 +61,5 @@ class GoToPassAcceptPosition(AbstractGoToPassPosition):
     Go to a position forward of the ball to accept a pass from another robot.
     """
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, True, parameters)

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/go_to_role_position.py

@@ -6,7 +6,7 @@
 class GoToRolePosition(AbstractActionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         role_positions = self.blackboard.config["role_positions"]
         kickoff_type = "active" if self.blackboard.gamestate.has_kickoff() else "passive"

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/head_modes.py

@@ -15,7 +15,7 @@ class AbstractHeadModeElement(AbstractActionElement):
 class LookAtBall(AbstractHeadModeElement):
     """Search for Ball and track it if found"""
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/kick_ball.py

@@ -14,7 +14,7 @@ def pop(self):
 
 
 class KickBallStatic(AbstractKickAction):
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         if "foot" not in parameters.keys():
             # usually, we kick with the right foot
@@ -38,7 +38,7 @@ class KickBallDynamic(AbstractKickAction):
     Kick the ball using bitbots_dynamic_kick
     """
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         if parameters.get("type", None) == "penalty":
             self.penalty_kick = True

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/play_animation.py

@@ -9,8 +9,8 @@ class AbstractPlayAnimation(AbstractActionElement, ABC):
     Abstract class to create actions for playing animations
     """
 
-    def __init__(self, blackboard, dsd, parameters=None):
-        super().__init__(blackboard, dsd, parameters=None)
+    def __init__(self, blackboard, dsd, parameters):
+        super().__init__(blackboard, dsd, parameters)
         self.blackboard: BodyBlackboard
 
         self.first_perform = True

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/stand.py

@@ -18,7 +18,7 @@ def perform(self, reevaluate=False):
 class WalkInPlace(AbstractActionElement):
     """This keeps walking in place and optionally pops itself after a given time"""
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.blackboard: BodyBlackboard
         self.duration = parameters.get("duration", None)
@@ -41,7 +41,7 @@ def perform(self, reevaluate=False):
 class Stand(WalkInPlace):
     """This stops the robot's walking and optionally pops itself after a given time"""
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         # Cancel the path planning if it is running
         self.blackboard.pathfinding.cancel_goal()
@@ -59,7 +59,7 @@ def perform(self, reevaluate=False):
 class StandAndWaitRandom(Stand):
     """This stops the robot's walking for a random amount of time"""
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.min = parameters.get("min", None)
         self.max = parameters.get("max", None)

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/timer.py

@@ -3,7 +3,7 @@
 
 
 class StartTimer(AbstractActionElement):
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.blackboard: BodyBlackboard
 
@@ -20,7 +20,7 @@ def perform(self, reevaluate=False):
 
 
 class EndTimer(AbstractActionElement):
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.blackboard: BodyBlackboard
 

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/turn.py

@@ -8,7 +8,7 @@
 
 
 class TurnAround(AbstractActionElement):
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.blackboard: BodyBlackboard
 
@@ -52,7 +52,7 @@ class Turn(AbstractActionElement):
     The sign of max speed indicates the direction (positive = left, negative = right).
     """
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.blackboard: BodyBlackboard
         self.current_rotation_vel = 0.0

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/actions/walk.py

@@ -4,7 +4,7 @@
 
 
 class WalkForward(AbstractActionElement):
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd)
         self.time = parameters.get("time", 0.5)
         self.start_time = self.blackboard.node.get_clock().now()

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/aligned_to_goal.py

@@ -7,7 +7,7 @@
 class AlignedToGoal(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.goalpost_safety_distance = self.blackboard.config["goalpost_safety_distance"]
         self.field_length = self.blackboard.world_model.field_length

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/avoid_ball.py

@@ -5,7 +5,7 @@
 class AvoidBall(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_close.py

@@ -7,7 +7,7 @@
 class BallClose(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.ball_close_distance = parameters.get("distance", self.blackboard.config["ball_close_distance"])
         self.ball_close_angle = parameters.get("angle", math.pi)

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_dangerous.py

@@ -5,7 +5,7 @@
 class BallDangerous(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.goal_radius = parameters.get("radius", self.blackboard.config["ball_dangerous_goal_radius"])
         self.center_width = self.blackboard.config["ball_dangerous_center"]

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_in_defensive_area.py

@@ -5,7 +5,7 @@
 class BallInDefensiveArea(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.defensive_area = self.blackboard.config["defensive_area"]
 
@@ -31,7 +31,7 @@ def get_reevaluate(self):
 class BallInOwnPercent(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.percent = parameters["p"]
 

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_kick_area.py

@@ -5,7 +5,7 @@
 class BallKickArea(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.kick_x_enter = self.blackboard.config["kick_x_enter"]
         self.kick_y_enter = self.blackboard.config["kick_y_enter"]

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/ball_seen.py

@@ -6,7 +6,7 @@
 class BallSeen(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.ball_lost_time = Duration(seconds=self.blackboard.config["ball_lost_time"])
 

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/closest_to_ball.py

@@ -5,7 +5,7 @@
 class ClosestToBallNoGoalie(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
@@ -24,7 +24,7 @@ def get_reevaluate(self):
 class ClosestToBall(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
@@ -43,7 +43,7 @@ def get_reevaluate(self):
 class RankToBallNoGoalie(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/config_role.py

@@ -9,7 +9,7 @@ class ConfigRole(AbstractDecisionElement):
 
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.role = self.blackboard.team_data.role
 

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/current_score.py

@@ -5,7 +5,7 @@
 class CurrentScore(AbstractDecisionElement):
     blackboard: BodyBlackboard
 
-    def __init__(self, blackboard, dsd, parameters=None):
+    def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):