Better consistency naming of headmodes (#653)

bit-bots · Jan 20, 2025 · a851e49 · a851e49
2 parents 007f923 + bd8f3e3
commit a851e49
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Showing 6 changed files with 261 additions and 251 deletions.
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py b/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py
@@ -8,12 +8,12 @@
 from bitbots_msgs.msg import Audio, HeadMode, RobotControlState
 
 THeadMode: TypeAlias = Literal[  # type: ignore[valid-type]
-    HeadMode.BALL_MODE,
-    HeadMode.FIELD_FEATURES,
+    HeadMode.SEARCH_BALL,
+    HeadMode.SEARCH_FIELD_FEATURES,
     HeadMode.LOOK_FORWARD,
     HeadMode.DONT_MOVE,
-    HeadMode.BALL_MODE_PENALTY,
-    HeadMode.LOOK_FRONT,
+    HeadMode.SEARCH_BALL_PENALTY,
+    HeadMode.SEARCH_FRONT,
 ]
 
 

diff --git a/...s_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py b/...s_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py
@@ -45,15 +45,15 @@ class SearchBall(AbstractHeadModeElement):
     """Look for ball"""
 
     def perform(self):
-        self.blackboard.misc.set_head_duty(HeadMode.BALL_MODE)
+        self.blackboard.misc.set_head_duty(HeadMode.SEARCH_BALL)
         return self.pop()
 
 
 class LookAtFieldFeatures(AbstractHeadModeElement):
     """Look generally for all features on the field (ball, goals, corners, center point)"""
 
     def perform(self):
-        self.blackboard.misc.set_head_duty(HeadMode.FIELD_FEATURES)
+        self.blackboard.misc.set_head_duty(HeadMode.SEARCH_FIELD_FEATURES)
         return self.pop()
 
 
@@ -77,13 +77,13 @@ class LookAtBallPenalty(AbstractHeadModeElement):
     """Ball Mode adapted for Penalty Kick"""
 
     def perform(self):
-        self.blackboard.misc.set_head_duty(HeadMode.BALL_MODE_PENALTY)
+        self.blackboard.misc.set_head_duty(HeadMode.SEARCH_BALL_PENALTY)
         return self.pop()
 
 
 class LookAtFront(AbstractHeadModeElement):
     """Search in front of the robot"""
 
     def perform(self):
-        self.blackboard.misc.set_head_duty(HeadMode.LOOK_FRONT)
+        self.blackboard.misc.set_head_duty(HeadMode.SEARCH_FRONT)
         return self.pop()
diff --git a/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py b/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py
@@ -222,12 +222,12 @@ def loop(self):
                     self.head_pub.publish(self.head_msg)
                 elif key == "0":
                     # Search for Ball and track it if found
-                    self.head_mode_msg.head_mode = HeadMode.BALL_MODE
-                    assert int(key) == HeadMode.BALL_MODE
+                    self.head_mode_msg.head_mode = HeadMode.SEARCH_BALL
+                    assert int(key) == HeadMode.SEARCH_BALL
                 elif key == "1":
                     # Look generally for all features on the field (ball, goals, corners, center point)
-                    self.head_mode_msg.head_mode = HeadMode.FIELD_FEATURES
-                    assert int(key) == HeadMode.FIELD_FEATURES
+                    self.head_mode_msg.head_mode = HeadMode.SEARCH_FIELD_FEATURES
+                    assert int(key) == HeadMode.SEARCH_FIELD_FEATURES
                 elif key == "2":
                     # Simply look directly forward
                     self.head_mode_msg.head_mode = HeadMode.LOOK_FORWARD
@@ -238,12 +238,12 @@ def loop(self):
                     assert int(key) == HeadMode.DONT_MOVE
                 elif key == "4":
                     # Ball Mode adapted for Penalty Kick
-                    self.head_mode_msg.head_mode = HeadMode.BALL_MODE_PENALTY
-                    assert int(key) == HeadMode.BALL_MODE_PENALTY
+                    self.head_mode_msg.head_mode = HeadMode.SEARCH_BALL_PENALTY
+                    assert int(key) == HeadMode.SEARCH_BALL_PENALTY
                 elif key == "5":
                     # Do a pattern which only looks in front of the robot
-                    self.head_mode_msg.head_mode = HeadMode.LOOK_FRONT
-                    assert int(key) == HeadMode.LOOK_FRONT
+                    self.head_mode_msg.head_mode = HeadMode.SEARCH_FRONT
+                    assert int(key) == HeadMode.SEARCH_FRONT
                 elif key == "y":
                     # kick left forward
                     pass