team_com disallowed robots to send messages if not intended, and reduces the rate if we get close to the budget end

[MegaIng]

See #805

@cleWu03 @jaagut

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[Copilot]

Pull request overview

This PR aims to make team communication (team_com) more budget-aware by reducing the publish rate when the message budget gets tight and stopping message sending when the budget is critically low, with corresponding behavior-layer fallbacks when team comm data is no longer available.

Changes:

• Add a configurable reduced_rate and switch the team_com timer to a lower publish rate under budget pressure.
• Block outgoing team_com messages when near the message-budget end and when messages exceed the 512-byte size limit.
• Introduce behavior/blackboard support to keep decisions working after team_com is stopped (new decision + caching of last known team-data-derived values).

Reviewed changes

Copilot reviewed 12 out of 12 changed files in this pull request and generated 13 comments.

Show a summary per file

File	Description
src/bitbots_team_communication/bitbots_team_communication/config/team_communication_config.yaml	Adds reduced_rate configuration parameter.
src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py	Implements rate reduction + budget/size-based suppression of outgoing messages.
src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd	Adds TeamComLimitReached branching and a new (currently unused) behavior block.
src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/team_com_limit_reached.py	New decision element for whether the team_com limit has been reached.
src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/number_penalized_players.py	Adds decisions for penalized teammate/rival counts.
src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/is_penalized.py	Adds a new return state for “unpenalized after team_com stop”.
src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/goalie_handling_ball.py	Uses cached team-data state when team_com is stopped.
src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/goalie_active.py	Uses cached team-data state when team_com is stopped.
src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/count_active_players_without_goalie.py	Uses cached team-data state when team_com is stopped.
src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/closest_to_ball.py	Uses cached ranking when team_com is stopped.
src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py	Adds caching of last-known team-data-derived values for use without team_com.
src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py	Tracks “team_com limit reached” and an “unpenalized after stop” flag.

Comments suppressed due to low confidence (3)

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/closest_to_ball.py:55

• Same blackboard.gamstate typo as above in RankToBallNoGoalie; it will raise AttributeError at runtime when the team comm limit is reached.

        if self.blackboard.gamstate.get_team_com_limit_has_reached():
            rank = self.blackboard.team_data.get_last_rank_with_team_com()
        else:

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py:240

• get_is_goalie_active() has the same iterator-consumption issue: sum(map(...)) is called twice on the filtered iterator. After setting was_goalie_active, the second sum will likely return 0, so this function will incorrectly return False. Compute once and reuse the result.

        # Count valid team data infos (aka robots with valid team data)
        self.was_goalie_active = sum(map(self.is_valid, team_data_infos)) == 1
        return sum(map(self.is_valid, team_data_infos)) == 1

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/count_active_players_without_goalie.py:18

• When the team comm limit is reached, this path uses cached values from team_data (e.g., get_last_number_active_player()), which are initialized to -1. If the limit is reached before these caches are updated, this decision can fall into the exception path. Consider falling back to computing the current value (or treating -1 as 0) to avoid runtime failures.

        if self.blackboard.gamstate.get_team_com_limit_has_reached():
            number_of_active_teammates = self.blackboard.team_data.get_last_number_active_player()
        else:

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[jaagut]

@copilot please resolve the found issues. Omit the comment that still needs discussion. At the end, run pixi run -e format format to make sure the code complies.

[Copilot]

@copilot please resolve the found issues. Omit the comment that still needs discussion. At the end, run pixi run -e format format to make sure the code complies.

Addressed the requested review findings (excluding the human-discussion thread) in commits 0b5294e, b90edc8, and 0eccd8d. I also executed the requested command pixi run -e format format, but this sandbox does not have pixi installed (pixi: command not found).

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[jaagut]

@cleWu03 why is this necessary?

[jaagut]

What's the thinking here? Why are we passive after being unpenalized? Is there a possibility this hits every team robot at the same time frame and thus disables the whole team while still being allowed to play?