Code Release 2024

.editorconfig

@@ -4,8 +4,10 @@ root = true
 [*]
 charset = utf-8
 end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
 
-[Src/**.{h,cpp}]
+[Src/**.{h,cpp,mm}]
 indent_style = space
 indent_size = 2
 

.gitignore

@@ -1,7 +1,9 @@
 .*
+!.editorconfig
 !.gitattributes
 !.gitignore
-!.editorconfig
+!.pre-commit-config.yaml
+!/Make/*/.vscode
 *~
 \#*\#
 .\#
@@ -11,6 +13,7 @@
 *.kdev4
 *.projectile
 *.iml
+*.opn
 GPATH
 GRTAGS
 GTAGS
@@ -34,4 +37,3 @@ Thumbs.db
 /Util/Buildchain/macOS/bin/cmake
 /Util/Buildchain/macOS/include
 /Util/Buildchain/macOS/lib
-/Util/WSL

.pre-commit-config.yaml

@@ -0,0 +1,120 @@
+# https://pre-commit.com/hooks.html
+
+# Install hooks for the commit message stage too, when using $pre-commit install.
+default_install_hook_types: [
+  pre-commit,
+  commit-msg
+]
+
+# Override all stages default for individual hooks that do not set stages. These hooks would run twice otherwise (during pre-commit and commit-msg stage). If you want to use any other than the following stages for any hook or in any command from the server pipeline, you have to add them here.
+default_stages: [
+  commit,
+  # commit-msg, # This stage should be excluded specifically, so that the hooks that ran at the commit stage do not run again.
+  manual,
+  merge-commit,
+  # post-checkout, # These other stages can be included, if needed.
+  # post-commit,
+  # post-merge,
+  # post-rewrite,
+  # prepare-commit-msg
+]
+
+# Exclude some folders and symlinks.
+exclude: |
+  (?x)^(
+    Config/Robots/robots.cfg|
+    Make/Linux/.idea/|
+    Make/Linux/CMakeLists.txt|
+    Make/Python/|
+    Util/
+  )
+
+repos:
+  # - repo: meta # These meta hooks check the pre-commit configuration itself.
+  #   hooks:
+  #     - id: check-hooks-apply # Ensures that the configured hooks apply to at least one file in the repository.
+  #       name: Check that any hook applies
+  #     # - id: check-useless-excludes # Ensures that exclude directives apply to any file in the repository.
+  #     #   name: Check for useless excludes
+  #     # - id: identity # A simple hook which prints all arguments passed to it, useful for debugging.
+
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-added-large-files # Prevents giant files from being committed.
+        name: Check for added large files
+      - id: check-case-conflict # Checks for files that would conflict in case-insensitive filesystems.
+        name: Check for case conflicts
+      - id: check-executables-have-shebangs # Ensures that (non-binary) executables have a shebang.
+        name: Check that executables have shebangs
+      - id: check-merge-conflict # Checks for files that contain merge conflict strings.
+        name: Check for merge conflicts
+        args: [--assume-in-merge]
+      # - id: check-json # Checks json files for parseable syntax.
+      # - id: check-symlinks # Checks for symlinks which do not point to anything.
+      - id: check-xml # Checks xml files for parseable syntax.
+        name: Check syntax of xml files
+      - id: check-yaml # Checks yaml files for parseable syntax.
+        name: Check syntax of yaml files
+        args: [--unsafe] # Allows object definitions in yaml.
+      # - id: detect-private-key # Detects the presence of private keys.
+      - id: end-of-file-fixer # Ensures that a file is either empty, or ends with one newline.
+        name: Fix newlines at end of files
+      - id: fix-byte-order-marker # Removes utf-8 byte order marker.
+        name: Fix UTF-8 byte order markers
+      - id: mixed-line-ending # Replaces or checks mixed line ending.
+        name: Check mixed line ending
+      # - id: requirements-txt-fixer # Sorts entries in requirements.txt.
+      - id: trailing-whitespace # Trims trailing whitespace.
+        name: Trim trailing whitespace
+        args: [--markdown-linebreak-ext=md] # Preserve hard linebreaks in Markdown.
+      - id: detect-private-key # Detects the presence of private keys.
+        name: Detect private keys
+        exclude: ^Install/Keys/
+
+  - repo: https://github.com/Lucas-C/pre-commit-hooks
+    rev: v1.5.1
+    hooks:
+      - id: forbid-crlf # Forbid files containing CRLF end-lines to be committed.
+        name: Check for CRLF end-lines
+      - id: remove-crlf # Replace CRLF end-lines by LF ones before committing.
+        name: Remove CRLF end-lines
+      - id: forbid-tabs # Forbid files containing tabs to be committed.
+        name: Check for tabs in files
+        exclude_types: [plist]
+        exclude: |
+          (?x)^(
+            Config/Scenes/ReplayRobot.con|
+            Config/Scenes/OtherScenes/SharedAutonomyReplay.con|
+            Make/|
+            Util/
+          )
+      - id: remove-tabs # Replace tabs by whitespaces before committing.
+        name: Replace tabs with spaces
+        args: [--whitespaces-count, '2']  # Defaults to 4.
+        exclude_types: [plist]
+        exclude: |
+          (?x)^(
+            Config/Scenes/ReplayRobot.con|
+            Config/Scenes/OtherScenes/SharedAutonomyReplay.con|
+            Make/|
+            Util/
+          )
+
+  # You can add false positive detections to Make/Hooks/typos.toml.
+  - repo: https://github.com/crate-ci/typos
+    rev: v1.16.21
+    hooks:
+      - id: typos
+        name: Check for misspellings in code
+        args: [--config=Make/Hooks/typos.toml, --locale=en-us, --no-check-filenames, --force-exclude, --write-changes, --format=long]
+        stages: [commit] # Select stage, to skip this hook on the server pipeline.
+
+  # TODO: Add commit style convention (at least for issue format, e.g. "(#123)"). See: https://www.conventionalcommits.org/
+  # TODO: Prevent merge commits by supplying the --no-merge-commit argument.
+  - repo: https://github.com/crate-ci/committed
+    rev: v1.0.20
+    hooks:
+      - id: committed
+        name: Verify commit message
+        stages: [commit-msg]

CITATION.cff

@@ -5,8 +5,8 @@ type: software
 authors:
   - name: "B-Human Team"
     website: "https://b-human.de/team-en.html"
-repository-code: "https://github.com/bhuman/BHumanCodeRelease/releases/tag/coderelease2023"
-url: "https://wiki.b-human.de/coderelease2023/"
-license-url: "https://raw.githubusercontent.com/bhuman/BHumanCodeRelease/coderelease2023/License.md"
-version: "2023"
-date-released: "2023-10-15"
+repository-code: "https://github.com/bhuman/BHumanCodeRelease/releases/tag/coderelease2024"
+url: "https://docs.b-human.de/coderelease2024/"
+license-url: "https://raw.githubusercontent.com/bhuman/BHumanCodeRelease/coderelease2024/License.md"
+version: "2024"
+date-released: "2024-10-15"

Config/Behavior/FreeKicks/opponentCornerKick.cfg

@@ -1,7 +1,7 @@
 tactic = t222;
 
 preconditions = {
-  ballXLE = xPosOwnGroundLine + 1000;
+  ballXLE = xPosOwnGoalLine + 1000;
   ballToOpponentGoalAbsAngleLE = 35deg;
 };
 
@@ -54,7 +54,7 @@ positions = [
     position = forwardL;
     pose = {
       rotation = 180deg;
-      translation = { x = xPosHalfWayLine; y = yPosLeftGoalArea; };
+      translation = { x = xPosHalfwayLine; y = yPosLeftGoalArea; };
     };
     actions = [
     ];
@@ -63,7 +63,7 @@ positions = [
     position = forwardR;
     pose = {
       rotation = 135deg;
-      translation = { x = xPosHalfWayLine + 1000; y = yPosRightGoalArea; };
+      translation = { x = xPosHalfwayLine + 1000; y = yPosRightGoalArea; };
     };
     actions = [
     ];

Config/Behavior/FreeKicks/ownCornerKick.cfg

@@ -1,7 +1,7 @@
 tactic = t123;
 
 preconditions = {
-  ballXGE = xPosOpponentGroundLine - 1000;
+  ballXGE = xPosOpponentGoalLine - 1000;
   ballToOpponentGoalAbsAngleGE = 70deg;
 };
 
@@ -10,7 +10,7 @@ positions = [
   {
     position = forwardL;
     pose = {
-      translation = { x = xPosOpponentGroundLine; y = yPosLeftSideline; };
+      translation = { x = xPosOpponentGoalLine; y = yPosLeftTouchline; };
     };
     actions = [
     ];
@@ -36,15 +36,15 @@ positions = [
     position = midfielderL;
     pose = {
       rotation = -30deg;
-      translation = { x = xPosOpponentPenaltyArea * 0.5; y = yPosLeftSideline - 800; };
+      translation = { x = xPosOpponentPenaltyArea * 0.5; y = yPosLeftTouchline - 800; };
     };
     actions = [
     ];
   },
   {
     position = midfielderR;
     pose = {
-      translation = { x = xPosHalfWayLine + centerCircleRadius; y = 0; };
+      translation = { x = xPosHalfwayLine + centerCircleRadius; y = 0; };
     };
     actions = [
     ];

Config/Behavior/FreeKicks/ownCornerKickAttacking.cfg

@@ -0,0 +1,68 @@
+tactic = t033;
+
+preconditions =
+{
+  ballXGE = xPosOpponentGoalLine - 1000;
+  ballToOpponentGoalAbsAngleGE = 70deg;
+};
+
+ballSide = left;
+positions = [
+ {
+   position = forwardL;
+   pose = {
+     translation = { x = xPosOpponentGoalLine; y = yPosLeftTouchline; };
+   };
+  actions = [
+            ];
+},
+{
+  position = forwardM;
+  pose = {
+    translation = { x = xPosOpponentPenaltyMark; y = yPosLeftGoalArea; };
+  };
+  actions = [
+            ];
+},
+{
+  position = forwardR;
+  pose = {
+    rotation = 90deg;
+    translation = { x = xPosOpponentPenaltyArea; y = yPosRightPenaltyArea; };
+  };
+  actions = [
+            ];
+},
+{
+  position = midfielderL;
+  pose = {
+    rotation = -30deg;
+    translation = { x = xPosOpponentPenaltyArea * 0.5; y = yPosLeftTouchline - 800; };
+  };
+  actions = [
+            ];
+},
+{
+  position = midfielderR;
+  pose = {
+    translation = { x = xPosHalfwayLine + centerCircleRadius; y = 0; };
+  };
+  actions = [
+            ];
+}
+];
+priorityGroups = [
+ {
+   positions = [forwardL];
+  priorities = [0];
+},
+{
+  positions = [midfielderL, midfielderR];
+  priorities = [1, 1];
+},
+{
+  positions = [forwardR, forwardM, defenderL];
+  priorities = [2, 2, 2];
+}
+];
+startPosition = forwardL;

Config/Behavior/FreeKicks/ownGoalKick.cfg

@@ -38,7 +38,7 @@ positions = [
     position = midfielderL;
     pose = {
       rotation = -135deg;
-      translation = { x = xPosOwnPenaltyArea + 1000; y = yPosLeftSideline - 400; };
+      translation = { x = xPosOwnPenaltyArea + 1000; y = yPosLeftTouchline - 400; };
     };
     actions = [
     ];

Config/Behavior/FreeKicks/ownKickInOpponentHalf.cfg

@@ -0,0 +1,74 @@
+tactic = t123;
+
+preconditions = {
+  ballXGE = xPosHalfwayLine;
+  ballXLE = xPosOpponentPenaltyArea;
+  ballYAbsGE = yPosLeftPenaltyArea;
+};
+
+ballSide = left;
+positions = [
+  {
+    position = midfielderR;
+    pose = {
+      rotation = 90deg;
+      translation = { x = centerCircleRadius; y = 0; };
+    };
+    actions = [
+    ];
+  },
+  {
+    position = midfielderL;
+    pose = {
+      rotation = 0deg;
+      translation = { x = -centerCircleRadius; y = yPosLeftPenaltyArea; };
+    };
+    actions = [
+    ];
+  },
+  {
+    position = forwardR;
+    pose = {
+      rotation = 90deg;
+      translation = { x = xPosOpponentPenaltyArea; y = yPosRightPenaltyArea; };
+    };
+    actions = [
+    ];
+  },
+  {
+    position = forwardM;
+    pose = {
+      rotation = 90deg;
+      translation = { x = xPosOpponentPenaltyMark; y = yPosLeftGoalArea; };
+    };
+    actions = [
+    ];
+  },
+  {
+    position = forwardL;
+    pose = {
+      rotation = 0deg;
+      translation = { x = xPosOpponentGoalLine * 0.3; y = yPosLeftTouchline; };
+    };
+    actions = [
+    ];
+  }
+];
+priorityGroups = [
+  {
+    positions = [forwardL];
+    priorities = [3];
+  },
+  {
+    positions = [defenderL, forwardM];
+    priorities = [0, 0];
+  },
+  {
+    positions = [midfielderR];
+    priorities = [1];
+  },
+  {
+    positions = [midfielderL, forwardR];
+    priorities = [2, 2];
+  }
+];