defender checks if goalie is active and acts like goalie if needed

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py

@@ -189,6 +189,19 @@ def is_not_goalie(team_data: TeamData) -> bool:
         # Count valid team data infos (aka robots with valid team data)
         return sum(map(self.is_valid, team_data_infos))
 
+    def get_is_goalie_active(self) -> bool:
+        def is_a_goalie(team_data: TeamData) -> bool:
+            return team_data.strategy.role == Strategy.ROLE_GOALIE
+
+        # Get the team data infos for all robots (ignoring the robot id/name)
+        team_data_infos = self.team_data.values()
+
+        # Remove none goalie Data
+        team_data_infos = filter(is_a_goalie, team_data_infos)
+
+        # Count valid team data infos (aka robots with valid team data)
+        return sum(map(self.is_valid, team_data_infos)) == 1
+
     def get_own_time_to_ball(self) -> float:
         return self.own_time_to_ball
 

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/goalie_active.py

@@ -0,0 +1,22 @@
+from bitbots_blackboard.body_blackboard import BodyBlackboard
+from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
+
+
+class GoalieActive(AbstractDecisionElement):
+    """
+    Decides whether the goalie is on field or not
+    """
+
+    blackboard: BodyBlackboard
+
+    def __init__(self, blackboard, dsd, parameters):
+        super().__init__(blackboard, dsd, parameters)
+
+    def perform(self, reevaluate=False):
+        if self.blackboard.team_data.get_is_goalie_active():
+            return "YES"
+        else:
+            return "NO"
+
+    def get_reevaluate(self):
+        return True

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -71,7 +71,9 @@ $GoalieHandlingBall
     NO --> #KickWithAvoidance
 
 #DefensePositioning
-@LookAtFieldFeatures, @ChangeAction + action:positioning, @GoToDefensePosition
+$GoalieActive
+    YES --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @GoToDefensePosition
+    NO --> @LookAtFieldFeatures, @ChangeAction + action:positioning, @GoToBlockPosition
 
 #SupporterRole
 $PassStarted