feat: reduce HSL state messages

crates/bevyhavior_simulator/src/behavior_runtime.rs

@@ -171,6 +171,7 @@ fn create_behavior_blackboard(parameters: BehaviorParameters) -> BehaviorBlackbo
         last_motion_switch_time: ros_z::time::Time::zero(),
         last_motion_type: None,
         last_sent_game_controller_return_message_time: None,
+        last_sent_hsl_message: None,
         last_sent_hsl_message_time: None,
         last_closest_to_ball: false,
         closest_to_ball_entered_area_since: None,

crates/bevyhavior_simulator/src/behavior_tree_simulator.rs

@@ -111,7 +111,9 @@ impl Default for BehaviorTreeSimulatorPlugin {
             config: SimulationConfig::default(),
             auto_referee_config: AutoRefereeConfig::default(),
             field_dimensions: FieldDimensions::SPL_2025,
-            hsl_network_parameters: HslNetworkParameters::default(),
+            hsl_network_parameters: default_behavior_parameters()
+                .expect("failed to load default behavior parameters")
+                .hsl_network,
             tick_duration: DEFAULT_TICK_DURATION,
             enable_default_ball_physics: true,
             enable_default_kinematics: true,
@@ -480,6 +482,20 @@ mod tests {
                 .remaining_number_of_messages,
             7
         );
+
+        let default_parameters =
+            default_behavior_parameters().expect("failed to load behavior parameters");
+        let hsl_network_parameters = app.world().resource::<SimulatorHslNetworkParameters>();
+        assert_eq!(
+            hsl_network_parameters.0.hsl_state_message_send_interval,
+            default_parameters
+                .hsl_network
+                .hsl_state_message_send_interval
+        );
+        assert_eq!(
+            hsl_network_parameters.0.message_budget,
+            default_parameters.hsl_network.message_budget
+        );
     }
 
     #[test]

crates/bevyhavior_simulator/src/game_controller.rs

@@ -1,7 +1,7 @@
 use std::time::{Duration, SystemTime};
 
 use bevy::prelude::*;
-use hsl_network_messages::{GamePhase, GameState, PlayerNumber, Team, TeamColor, TeamState};
+use hsl_network_messages::{GamePhase, GameState, Half, PlayerNumber, Team, TeamColor, TeamState};
 use types::{
     field_dimensions::GlobalFieldSide, filtered_game_controller_state::FilteredGameControllerState,
     filtered_game_state::FilteredGameState, game_controller_state::GameControllerState,
@@ -80,6 +80,7 @@ pub fn default_game_controller_state() -> GameControllerState {
         game_state: GameState::Playing,
         stopped: false,
         game_phase: GamePhase::Normal,
+        half: Half::First,
         remaining_time_in_half: Duration::ZERO,
         kicking_team: Some(Team::Hulks),
         last_game_state_change: SystemTime::UNIX_EPOCH,
@@ -140,6 +141,7 @@ pub fn filtered_game_controller_state_for_team(
     FilteredGameControllerState {
         game_state: filtered_game_state_from(game_controller_state),
         opponent_game_state: filtered_game_state_from(game_controller_state),
+        half: game_controller_state.half,
         remaining_time_in_half: game_controller_state.remaining_time_in_half,
         game_phase: game_controller_state.game_phase,
         kicking_team: game_controller_state

crates/nodes/behavior_node/src/node.rs

@@ -4,7 +4,7 @@ use booster::FallDownState;
 use color_eyre::Result;
 
 use coordinate_systems::{Field, Ground};
-use hsl_network_messages::PlayerNumber;
+use hsl_network_messages::{HulkMessage, PlayerNumber};
 use linear_algebra::{Isometry2, Point2, Pose2, Vector2};
 use ros_z::{prelude::*, qos::QosDurability, time::Time};
 use serde::{Deserialize, Serialize};
@@ -57,6 +57,7 @@ pub struct Blackboard {
     pub last_motion_switch_time: Time,
     pub last_motion_type: Option<MotionType>,
     pub last_sent_game_controller_return_message_time: Option<Time>,
+    pub last_sent_hsl_message: Option<HulkMessage>,
     pub last_sent_hsl_message_time: Option<Time>,
     pub last_closest_to_ball: bool,
     pub closest_to_ball_entered_area_since: Option<Time>,
@@ -268,6 +269,7 @@ pub async fn run(ctx: Arc<Context>) -> Result<()> {
         last_motion_switch_time: Time::zero(),
         last_motion_type: None,
         last_sent_game_controller_return_message_time: None,
+        last_sent_hsl_message: None,
         last_sent_hsl_message_time: None,
         last_closest_to_ball: false,
         closest_to_ball_entered_area_since: None,