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Merge pull request #96 from ros-sports/mergify/bp/humble/pr-93
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clean up tests that were re-defining constants that were defined in the interfaces (backport #93)
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@ijnek
ijnek committed Apr 21, 2024
2 parents 96cfb8c + 7c765bb commit f8babc4
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53 changes: 0 additions & 53 deletions game_controller_spl/game_controller_spl/rcgcd_14/robocup_game_control_data.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,59 +49,6 @@

MAX_NUM_PLAYERS = 7

# SPL
TEAM_BLUE = 0 # blue, cyan
TEAM_RED = 1 # red, magenta, pink
TEAM_YELLOW = 2 # yellow
TEAM_BLACK = 3 # black, dark gray
TEAM_WHITE = 4 # white
TEAM_GREEN = 5 # green
TEAM_ORANGE = 6 # orange
TEAM_PURPLE = 7 # purple, violet
TEAM_BROWN = 8 # brown
TEAM_GRAY = 9 # lighter gray

COMPETITION_PHASE_ROUNDROBIN = 0
COMPETITION_PHASE_PLAYOFF = 1

COMPETITION_TYPE_NORMAL = 0
COMPETITION_TYPE_CHALLENGE_SHIELD = 1
COMPETITION_TYPE_7V7 = 2
COMPETITION_TYPE_DYNAMIC_BALL_HANDLING = 3

GAME_PHASE_NORMAL = 0
GAME_PHASE_PENALTYSHOOT = 1
GAME_PHASE_OVERTIME = 2
GAME_PHASE_TIMEOUT = 3

STATE_INITIAL = 0
STATE_READY = 1
STATE_SET = 2
STATE_PLAYING = 3
STATE_FINISHED = 4

SET_PLAY_NONE = 0
SET_PLAY_GOAL_KICK = 1
SET_PLAY_PUSHING_FREE_KICK = 2
SET_PLAY_CORNER_KICK = 3
SET_PLAY_KICK_IN = 4
SET_PLAY_PENALTY_KICK = 5

PENALTY_NONE = 0
# SPL
PENALTY_SPL_ILLEGAL_BALL_CONTACT = 1 # ball holding / playing with hands
PENALTY_SPL_PLAYER_PUSHING = 2
PENALTY_SPL_ILLEGAL_MOTION_IN_SET = 3 # heard whistle too early?
PENALTY_SPL_INACTIVE_PLAYER = 4 # fallen, inactive
PENALTY_SPL_ILLEGAL_POSITION = 5
PENALTY_SPL_LEAVING_THE_FIELD = 6
PENALTY_SPL_REQUEST_FOR_PICKUP = 7
PENALTY_SPL_LOCAL_GAME_STUCK = 8
PENALTY_SPL_ILLEGAL_POSITION_IN_SET = 9

PENALTY_SUBSTITUTE = 14
PENALTY_MANUAL = 15

RobotInfo = Struct(
'penalty' / Byte, # penalty state of the player
'secsTillUnpenalised' / Byte # estimate of time till unpenalised
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52 changes: 0 additions & 52 deletions game_controller_spl/game_controller_spl/rcgcd_15/robocup_game_control_data.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,58 +49,6 @@

MAX_NUM_PLAYERS = 20

# SPL
TEAM_BLUE = 0 # blue, cyan
TEAM_RED = 1 # red, magenta, pink
TEAM_YELLOW = 2 # yellow
TEAM_BLACK = 3 # black, dark gray
TEAM_WHITE = 4 # white
TEAM_GREEN = 5 # green
TEAM_ORANGE = 6 # orange
TEAM_PURPLE = 7 # purple, violet
TEAM_BROWN = 8 # brown
TEAM_GRAY = 9 # lighter gray

COMPETITION_PHASE_ROUNDROBIN = 0
COMPETITION_PHASE_PLAYOFF = 1

COMPETITION_TYPE_NORMAL = 0
COMPETITION_TYPE_DYNAMIC_BALL_HANDLING = 1

GAME_PHASE_NORMAL = 0
GAME_PHASE_PENALTYSHOOT = 1
GAME_PHASE_OVERTIME = 2
GAME_PHASE_TIMEOUT = 3

STATE_INITIAL = 0
STATE_READY = 1
STATE_SET = 2
STATE_PLAYING = 3
STATE_FINISHED = 4

SET_PLAY_NONE = 0
SET_PLAY_GOAL_KICK = 1
SET_PLAY_PUSHING_FREE_KICK = 2
SET_PLAY_CORNER_KICK = 3
SET_PLAY_KICK_IN = 4
SET_PLAY_PENALTY_KICK = 5

PENALTY_NONE = 0
# SPL
PENALTY_SPL_ILLEGAL_BALL_CONTACT = 1 # ball holding / playing with hands
PENALTY_SPL_PLAYER_PUSHING = 2
PENALTY_SPL_ILLEGAL_MOTION_IN_SET = 3 # heard whistle too early?
PENALTY_SPL_INACTIVE_PLAYER = 4 # fallen, inactive
PENALTY_SPL_ILLEGAL_POSITION = 5
PENALTY_SPL_LEAVING_THE_FIELD = 6
PENALTY_SPL_REQUEST_FOR_PICKUP = 7
PENALTY_SPL_LOCAL_GAME_STUCK = 8
PENALTY_SPL_ILLEGAL_POSITION_IN_SET = 9
PENALTY_SPL_PLAYER_STANCE = 10

PENALTY_SUBSTITUTE = 14
PENALTY_MANUAL = 15

RobotInfo = Struct(
'penalty' / Byte, # penalty state of the player
'secsTillUnpenalised' / Byte # estimate of time till unpenalised
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72 changes: 36 additions & 36 deletions game_controller_spl/test/conversion/test_conversion_rcgcd_14.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,10 +16,10 @@

from game_controller_spl.rcgcd_14.conversion import rcgcd_data_to_msg

from game_controller_spl.rcgcd_14.robocup_game_control_data import (
COMPETITION_PHASE_PLAYOFF, COMPETITION_TYPE_CHALLENGE_SHIELD,
GAME_PHASE_PENALTYSHOOT, PENALTY_MANUAL, PENALTY_NONE, PENALTY_SPL_PLAYER_PUSHING,
RoboCupGameControlData, SET_PLAY_GOAL_KICK, STATE_READY, TEAM_RED, TEAM_YELLOW)
from game_controller_spl.rcgcd_14.robocup_game_control_data import RoboCupGameControlData
from game_controller_spl_interfaces.msg import RCGCD14 as RCGCD
from game_controller_spl_interfaces.msg import RobotInfo14 as RobotInfo
from game_controller_spl_interfaces.msg import TeamInfo14 as TeamInfo


def test_rcgcd_data_to_msg():
Expand All @@ -28,60 +28,60 @@ def test_rcgcd_data_to_msg():
Container(
packetNumber=1,
playersPerTeam=5,
competitionPhase=COMPETITION_PHASE_PLAYOFF,
competitionType=COMPETITION_TYPE_CHALLENGE_SHIELD,
gamePhase=GAME_PHASE_PENALTYSHOOT,
state=STATE_READY,
setPlay=SET_PLAY_GOAL_KICK,
competitionPhase=RCGCD.COMPETITION_PHASE_PLAYOFF,
competitionType=RCGCD.COMPETITION_TYPE_CHALLENGE_SHIELD,
gamePhase=RCGCD.GAME_PHASE_PENALTYSHOOT,
state=RCGCD.STATE_READY,
setPlay=RCGCD.SET_PLAY_GOAL_KICK,
firstHalf=1,
kickingTeam=1,
secsRemaining=10,
secondaryTime=2,
teams=[
Container(
teamNumber=1,
teamColour=TEAM_RED,
teamColour=TeamInfo.TEAM_RED,
score=1,
penaltyShot=2,
singleShots=3,
messageBudget=1000,
players=[
Container(penalty=PENALTY_MANUAL,
Container(penalty=RobotInfo.PENALTY_MANUAL,
secsTillUnpenalised=1),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_SPL_PLAYER_PUSHING,
Container(penalty=RobotInfo.PENALTY_SPL_PLAYER_PUSHING,
secsTillUnpenalised=2)
]),
Container(
teamNumber=2,
teamColour=TEAM_YELLOW,
teamColour=TeamInfo.TEAM_YELLOW,
score=4,
penaltyShot=5,
singleShots=6,
messageBudget=2000,
players=[
Container(penalty=PENALTY_MANUAL,
Container(penalty=RobotInfo.PENALTY_MANUAL,
secsTillUnpenalised=11),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_NONE,
Container(penalty=RobotInfo.PENALTY_NONE,
secsTillUnpenalised=0),
Container(penalty=PENALTY_SPL_PLAYER_PUSHING,
Container(penalty=RobotInfo.PENALTY_SPL_PLAYER_PUSHING,
secsTillUnpenalised=12)
])
]
Expand All @@ -91,32 +91,32 @@ def test_rcgcd_data_to_msg():
msg = rcgcd_data_to_msg(data)
assert msg.packet_number == 1
assert msg.players_per_team == 5
assert msg.competition_phase == COMPETITION_PHASE_PLAYOFF
assert msg.competition_type == COMPETITION_TYPE_CHALLENGE_SHIELD
assert msg.game_phase == GAME_PHASE_PENALTYSHOOT
assert msg.state == STATE_READY
assert msg.set_play == SET_PLAY_GOAL_KICK
assert msg.competition_phase == RCGCD.COMPETITION_PHASE_PLAYOFF
assert msg.competition_type == RCGCD.COMPETITION_TYPE_CHALLENGE_SHIELD
assert msg.game_phase == RCGCD.GAME_PHASE_PENALTYSHOOT
assert msg.state == RCGCD.STATE_READY
assert msg.set_play == RCGCD.SET_PLAY_GOAL_KICK
assert msg.first_half == 1
assert msg.kicking_team == 1
assert msg.secs_remaining == 10
assert msg.secondary_time == 2
assert msg.teams[0].team_number == 1
assert msg.teams[0].team_colour == TEAM_RED
assert msg.teams[0].team_colour == TeamInfo.TEAM_RED
assert msg.teams[0].score == 1
assert msg.teams[0].penalty_shot == 2
assert msg.teams[0].single_shots == 3
assert msg.teams[0].message_budget == 1000
assert msg.teams[0].players[0].penalty == PENALTY_MANUAL
assert msg.teams[0].players[0].penalty == RobotInfo.PENALTY_MANUAL
assert msg.teams[0].players[0].secs_till_unpenalised == 1
assert msg.teams[0].players[6].penalty == PENALTY_SPL_PLAYER_PUSHING
assert msg.teams[0].players[6].penalty == RobotInfo.PENALTY_SPL_PLAYER_PUSHING
assert msg.teams[0].players[6].secs_till_unpenalised == 2
assert msg.teams[1].team_number == 2
assert msg.teams[1].team_colour == TEAM_YELLOW
assert msg.teams[1].team_colour == TeamInfo.TEAM_YELLOW
assert msg.teams[1].score == 4
assert msg.teams[1].penalty_shot == 5
assert msg.teams[1].single_shots == 6
assert msg.teams[1].message_budget == 2000
assert msg.teams[1].players[0].penalty == PENALTY_MANUAL
assert msg.teams[1].players[0].penalty == RobotInfo.PENALTY_MANUAL
assert msg.teams[1].players[0].secs_till_unpenalised == 11
assert msg.teams[1].players[6].penalty == PENALTY_SPL_PLAYER_PUSHING
assert msg.teams[1].players[6].penalty == RobotInfo.PENALTY_SPL_PLAYER_PUSHING
assert msg.teams[1].players[6].secs_till_unpenalised == 12
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