rename head modes more clearly

bit-bots · Jan 15, 2025 · 1579a24 · 1579a24
1 parent c88ae76
commit 1579a24
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Showing 5 changed files with 24 additions and 24 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

diff --git a/bitbots_motion/bitbots_head_mover/src/move_head.cpp b/bitbots_motion/bitbots_head_mover/src/move_head.cpp
@@ -717,14 +717,14 @@ class HeadMover {
     // Check if the head mode changed and if so, update the search pattern
     if (prev_head_mode_ != curr_head_mode) {
       switch (curr_head_mode) {
-        case bitbots_msgs::msg::HeadMode::BALL_MODE:  // 0
+        case bitbots_msgs::msg::HeadMode::SEARCH_BALL:  // 0
           pan_speed_ = params_.search_pattern.pan_speed;
           tilt_speed_ = params_.search_pattern.tilt_speed;
           pattern_ = generatePattern(params_.search_pattern.scan_lines, params_.search_pattern.pan_max[0],
                                      params_.search_pattern.pan_max[1], params_.search_pattern.tilt_max[0],
                                      params_.search_pattern.tilt_max[1], params_.search_pattern.reduce_last_scanline);
           break;
-        case bitbots_msgs::msg::HeadMode::BALL_MODE_PENALTY:  // 11
+        case bitbots_msgs::msg::HeadMode::SEARCH_BALL_PENALTY:  // 11
           pan_speed_ = params_.search_pattern_penalty.pan_speed;
           tilt_speed_ = params_.search_pattern_penalty.tilt_speed;
           pattern_ =
@@ -733,7 +733,7 @@ class HeadMover {
                               params_.search_pattern_penalty.tilt_max[1], params_.search_pattern.reduce_last_scanline);
           break;
 
-        case bitbots_msgs::msg::HeadMode::FIELD_FEATURES:  // 3
+        case bitbots_msgs::msg::HeadMode::SEARCH_FIELD_FEATURES:  // 3
           pan_speed_ = params_.search_pattern_field_features.pan_speed;
           tilt_speed_ = params_.search_pattern_field_features.tilt_speed;
           pattern_ = generatePattern(
@@ -742,7 +742,7 @@ class HeadMover {
               params_.search_pattern_field_features.tilt_max[1], params_.search_pattern.reduce_last_scanline);
           break;
 
-        case bitbots_msgs::msg::HeadMode::LOOK_FRONT:  // 13
+        case bitbots_msgs::msg::HeadMode::SEARCH_FRONT:  // 13
           pan_speed_ = params_.front_search_pattern.pan_speed;
           tilt_speed_ = params_.front_search_pattern.tilt_speed;
           pattern_ =

diff --git a/bitbots_msgs/msg/HeadMode.msg b/bitbots_msgs/msg/HeadMode.msg
@@ -2,17 +2,17 @@
 # The body tells the head by this message what it shall do.
 
 # Search for Ball and track it if found
-uint8 BALL_MODE=0 
+uint8 SEARCH_BALL=0 
 # Look generally for all features on the field (ball, goals, corners, center point)
-uint8 FIELD_FEATURES=1
+uint8 SEARCH_FIELD_FEATURES=1
 # Simply look directly forward
 uint8 LOOK_FORWARD=2
 #Don't move the head
 uint8 DONT_MOVE=3
 # Ball Mode adapted for Penalty Kick
-uint8 BALL_MODE_PENALTY = 4
+uint8 SEARCH_BALL_PENALTY = 4
 # Do a pattern which only looks in front of the robot
-uint8 LOOK_FRONT = 5
+uint8 SEARCH_FRONT = 5
 
 
 uint8 head_mode