Merge pull request #22 from RoboTeamTwente/fix/possible_goal

Fix/possible goal
RoboTeamTwente · Jul 1, 2024 · d6ebae0 · d6ebae0
2 parents 5fea9e9 + 9d8dfc0
commit d6ebae0
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Showing 3 changed files with 21 additions and 23 deletions.
diff --git a/src/main/java/nl/roboteamtwente/autoref/Referee.java b/src/main/java/nl/roboteamtwente/autoref/Referee.java
@@ -8,6 +8,7 @@
 
 public class Referee {
     private static final List<RuleValidator> RULE_VALIDATORS = List.of(
+            new PossibleGoalValidator(), //First validator to give priority on checking this rule
             new AimlessKickValidator(),
             new AttackerDoubleTouchedBallValidator(),
             new AttackerTooCloseToDefenseAreaValidator(),
@@ -23,8 +24,7 @@ public class Referee {
             new DefenderInDefenseAreaValidator(),
             new DefenderTooCloseToKickPointValidator(),
             new PenaltyKickFailedValidator(),
-            new PlacementSucceededValidator(),
-            new PossibleGoalValidator()
+            new PlacementSucceededValidator()            
     );
 
     private List<RuleValidator> activeValidators = new ArrayList<>();

diff --git a/src/main/java/nl/roboteamtwente/autoref/SSLAutoRef.java b/src/main/java/nl/roboteamtwente/autoref/SSLAutoRef.java
@@ -70,7 +70,14 @@ public void processWorldState(StateOuterClass.State statePacket) {
         referee.setGame(game);
         time_counter += 1;
         if (time_counter % 80 == 0) {
-            System.out.println("AUTOREF ALIVE");
+            String message = "AUTOREF ALIVE | ";
+            if (game.isBallInPlay()) {
+                message += "Ball in play";
+            } else {
+                message += game.getState();
+            }
+
+            System.out.println(message);
         }
     }
 
@@ -291,7 +298,8 @@ private void deriveTouch(Game game) {
             Touch touch_ = ball_.getLastTouchStarted();
             Robot robot_ = game.getRobot(touch_.getBy());
             //if distance between robot and ball is greater than 15m/s * 60Hz + robot radius there is a false positive
-            if (ball_.getPosition().xy().distance(robot_.getPosition().xy()) > (15 * 1/60 + robot_.getRadius())) {
+            float f = (15.0f / 60.0f + robot_.getRadius());
+            if (ball_.getPosition().xy().distance(robot_.getPosition().xy()) > (15.0f / 60.0f + robot_.getRadius())) {
                 return;
             }
         }

diff --git a/src/main/java/nl/roboteamtwente/autoref/validators/PossibleGoalValidator.java b/src/main/java/nl/roboteamtwente/autoref/validators/PossibleGoalValidator.java
@@ -26,29 +26,19 @@ boolean checkBallInsideGoal(Game game, Side side, Vector2 ballPos) {
 
         String fieldLineName;
         if (side.equals(Side.RIGHT)) {
-            fieldLineName = "RightFieldLeftPenaltyStretch";
+            fieldLineName = "RightGoalLine";
         } else {
-            fieldLineName = "LeftFieldLeftPenaltyStretch";
+            fieldLineName = "LeftGoalLine";
         }
         FieldLine fieldLine = game.getField().getLineByName(fieldLineName);
         if (fieldLine != null) {
-            // LeftToRightCoefficient if leftPenaltyStretch is positive otherwise negative
-            float leftToRightCoefficient = 1;
-            if (fieldLine.p1().getY() >= 0) {
-                leftToRightCoefficient = 1;
-            } else {
-                leftToRightCoefficient = -1;
-            }
-            float leftPostP1x = fieldLine.p1().getX();
-            float leftPostP1y = (goalWidthLength/2) * leftToRightCoefficient;
-
-            float leftPostP2x = leftPostP1x + side.getCardinality()*goalDepthLength;
-
-            float rightPostP1y = (goalWidthLength/2) * leftToRightCoefficient * -1;
-
-            // Check if ball inside right goal
-            if ((ballPos.getY() >= Math.min(rightPostP1y, leftPostP1y)) && (ballPos.getY() <= Math.max(rightPostP1y, leftPostP1y))
-                    && (ballPos.getX() >= Math.min(leftPostP1x,leftPostP2x)) && (ballPos.getX() <= Math.max(leftPostP1x,leftPostP2x))) {
+            float fieldLineX = side.getCardinality() * fieldLine.p1().getX();
+            float goalBacksideX = fieldLineX + goalDepthLength;
+            float goalY = goalWidthLength / 2;
+            float ballX = side.getCardinality() * ballPos.getX();
+            float ballY = ballPos.getY();
+
+            if (fieldLineX < ballX && ballX < goalBacksideX && -1 * goalY < ballY && ballY < goalY) {
                 System.out.println("Inside goal " + side);
                 return true;
             }