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Feat/game over pub #7

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8cee2d0
sima game over pub
2006wu Mar 13, 2026
e607ba2
add log in MissionChecker & FirmwareReceiver
2006wu Mar 14, 2026
bd7920b
remove unnecessary log in missionchecker & firmwarechecker
2006wu Mar 26, 2026
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2 changes: 2 additions & 0 deletions src/bt_core/src/MissionChecker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,10 +81,12 @@ BT::NodeStatus MissionChecker::onRunning() {
if(action_ == ActionType::TAKE){
robot_side_status[side_idx_] = FieldStatus::OCCUPIED;
blackboard_->set<std::vector<FieldStatus>>("robot_side_status", robot_side_status);
MC_INFO(node_, "Marking side %d as OCCUPIED due to TAKE timeout", side_idx_);
}
else if(action_ == ActionType::PUT){
robot_side_status[side_idx_] = FieldStatus::EMPTY;
blackboard_->set<std::vector<FieldStatus>>("robot_side_status", robot_side_status);
MC_INFO(node_, "Marking side %d as EMPTY due to PUT timeout", side_idx_);
}
return BT::NodeStatus::SUCCESS; // Don't block the game
}
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2 changes: 1 addition & 1 deletion src/sensors/src/FirmwareReceiver.cpp
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Expand Up @@ -124,6 +124,6 @@ void FirmwareReceiver::takeFinishCallback(const std_msgs::msg::Int16::SharedPtr
}

BT::NodeStatus FirmwareReceiver::tick() {
RCLCPP_DEBUG(node_->get_logger(), "FirmwareReceiver tick");
RCLCPP_DEBUG(node_->get_logger(), "[FirmwareReceiver]: tick");
return BT::NodeStatus::SUCCESS;
}
5 changes: 4 additions & 1 deletion src/startup/include/startup.hpp
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Expand Up @@ -77,9 +77,11 @@ class StartUp : public rclcpp::Node {
// game timer
rclcpp::TimerBase::SharedPtr timer;
rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr game_time_pub;
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr sima_game_over_pub;
std::shared_ptr<rclcpp::Rate> rate;
int game_time;
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Copilot AI Mar 24, 2026

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game_time is declared as int here, but the implementation treats it as elapsed seconds (Float32/double). This can cause truncation and printf-format mismatches. Consider changing this member to double/float.

Suggested change
int game_time;
double game_time;

Copilot uses AI. Check for mistakes.

bool sima_game_over_sent;

// State checker for other groups
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr are_you_ready_pub;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr plan_file_pub;
Expand Down Expand Up @@ -123,6 +125,7 @@ class StartUp : public rclcpp::Node {
std::vector<double> yellow_start_pose;
int time_rate;
int game_time_limit;
int sima_game_over_trigger_sec;
int sima_tick_threshold;
int group_num;
};
1 change: 1 addition & 0 deletions src/startup/params/robot_config_black.yaml
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Expand Up @@ -6,6 +6,7 @@
time_rate: 100 # Timer rate in microseconds (100 = 10kHz)
game_time: 100 # Total game time in seconds
sima_tick_threshold: 85 # Seconds before sima starts
sima_game_over_trigger_sec: 99 # Seconds tell sima to stop
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Comment grammar: "Seconds tell sima to stop" is unclear; consider rephrasing (e.g., "Seconds after start to tell Sima to stop").

Suggested change
sima_game_over_trigger_sec: 99 # Seconds tell sima to stop
sima_game_over_trigger_sec: 99 # Seconds after game start to tell Sima to stop

Copilot uses AI. Check for mistakes.
group_num: 5 # Total number of groups (including index 0)

# Plan Configuration
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1 change: 1 addition & 0 deletions src/startup/params/robot_config_default.yaml
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Expand Up @@ -6,6 +6,7 @@
time_rate: 100 # Timer rate in microseconds (100 = 10kHz)
game_time: 100 # Total game time in seconds
sima_tick_threshold: 85 # Seconds before sima starts
sima_game_over_trigger_sec: 99 # Seconds tell sima to stop
Comment on lines 8 to +9
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Comment grammar: "Seconds tell sima to stop" is unclear; consider rephrasing (e.g., "Seconds after start to tell Sima to stop").

Suggested change
sima_tick_threshold: 85 # Seconds before sima starts
sima_game_over_trigger_sec: 99 # Seconds tell sima to stop
sima_tick_threshold: 85 # Seconds before Sima starts
sima_game_over_trigger_sec: 99 # Seconds after start to tell Sima to stop

Copilot uses AI. Check for mistakes.
group_num: 5 # Total number of groups (including index 0)

# Plan Configuration
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1 change: 1 addition & 0 deletions src/startup/params/robot_config_white.yaml
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Expand Up @@ -6,6 +6,7 @@
time_rate: 100 # Timer rate in microseconds (100 = 10kHz)
game_time: 100 # Total game time in seconds
sima_tick_threshold: 85 # Seconds before sima starts
sima_game_over_trigger_sec: 99 # Seconds tell sima to stop
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Copilot AI Mar 24, 2026

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Comment grammar: "Seconds tell sima to stop" is unclear; consider rephrasing (e.g., "Seconds after start to tell Sima to stop").

Suggested change
sima_game_over_trigger_sec: 99 # Seconds tell sima to stop
sima_game_over_trigger_sec: 99 # Seconds after start to tell Sima to stop

Copilot uses AI. Check for mistakes.
group_num: 5 # Total number of groups (including index 0)

# Plan Configuration
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13 changes: 13 additions & 0 deletions src/startup/src/startup_new.cpp
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Expand Up @@ -13,6 +13,7 @@ StartUp::StartUp() : Node("startup_node"){

game_time_pub = this->create_publisher<std_msgs::msg::Float32>("/robot/startup/game_time", 2);
rate = std::make_shared<rclcpp::Rate>(time_rate);
sima_game_over_pub = this->create_publisher<std_msgs::msg::Bool>("/robot/startup/sima_game_over", 1);
Comment on lines 14 to +16
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Copilot AI Mar 24, 2026

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The /robot/startup/sima_game_over topic looks like a one-shot event; with a depth-only QoS, late subscribers can miss it. Consider using a reliable + transient_local QoS (similar to src/navigation/src/stop_robot_node.cpp:5) so consumers that start after this publish still receive the last "game over" signal.

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// State checker for other groups
are_you_ready_pub = this->create_publisher<std_msgs::msg::Bool>("/robot/startup/are_you_ready", 2);
Expand Down Expand Up @@ -50,13 +51,15 @@ StartUp::StartUp() : Node("startup_node"){
is_plugged = false;
end_logged = false;
game_time = 0;
sima_game_over_sent = false;
}

void StartUp::initParam() {
// Timing parameters
this->declare_parameter<int>("time_rate", 100);
this->declare_parameter<int>("game_time", 100);
this->declare_parameter<int>("sima_tick_threshold", 85);
this->declare_parameter<int>("sima_game_over_trigger_sec", 99);
this->declare_parameter<int>("group_num", 5);

// Robot parameters
Expand All @@ -69,6 +72,7 @@ void StartUp::initParam() {
this->get_parameter("time_rate", time_rate);
this->get_parameter("game_time", game_time_limit);
this->get_parameter("sima_tick_threshold", sima_tick_threshold);
this->get_parameter("sima_game_over_trigger_sec", sima_game_over_trigger_sec);
this->get_parameter("group_num", group_num);

// Get robot parameters
Expand Down Expand Up @@ -288,6 +292,15 @@ void StartUp::publishTime() {
cur_time_msg.data = cur_time - start_time;
game_time = cur_time_msg.data;
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Copilot AI Mar 24, 2026

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game_time is an int, but here it’s assigned from a Float32 seconds value (cur_time_msg.data). This truncates elapsed time and can make time-based thresholds fire later/earlier than intended. Consider changing game_time to double/float (and keeping comparisons consistent).

Suggested change
game_time = cur_time_msg.data;
game_time = static_cast<int>(cur_time_msg.data);

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game_time_pub->publish(cur_time_msg);

if (!sima_game_over_sent && game_time >= sima_game_over_trigger_sec) {
std_msgs::msg::Bool msg;
msg.data = true;
sima_game_over_pub->publish(msg);
sima_game_over_sent = true;
RCLCPP_INFO(this->get_logger(), "[StartUp]: Sima game over signal sent at game time %f", game_time);
}
Comment on lines +299 to +302
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Copilot AI Mar 24, 2026

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RCLCPP_INFO uses printf-style formatting; %f expects a double, but game_time is currently an int. This mismatch is undefined behavior. Fix by changing game_time’s type to double/float or casting to double in the log call (and adjusting the member type in the header accordingly).

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tickLittleSima(game_time);
}

Expand Down