Merge pull request #19 from RoboTeamTwente/fix/botdribbledballtoofar

Fix/botdribbledballtoofar

src/main/java/nl/roboteamtwente/autoref/SSLAutoRef.java

@@ -208,7 +208,6 @@ private void deriveRobot(Game game, TeamColor teamColor, WorldRobotOuterClass.Wo
         robot.getVelocity().setY(worldRobot.getVel().getY());
         if (teamColor == TeamColor.BLUE) {
             robot.setRadius(statePacket.getBlueRobotParameters().getParameters().getRadius());
-            System.out.println(robot.getRadius());
         } else {
             robot.setRadius(statePacket.getYellowRobotParameters().getParameters().getRadius());
         }
@@ -266,14 +265,38 @@ private void deriveField(Game game, StateOuterClass.State statePacket) {
     private void deriveTouch(Game game) {
         // copy variables from previous game
         game.getBall().setLastTouchStarted(game.getPrevious().getBall().getLastTouchStarted());
-
-        // restore all finished touches, in-progress touches will be evaluated next
-        game.getTouches().addAll(game.getPrevious().getFinishedTouches());
         game.setKickType(game.getPrevious().getKickType());
         game.setKickIntoPlay(game.getPrevious().getKickIntoPlay());
+        for (Touch touch : game.getPrevious().getTouches()) {
+            if (!touch.isFinished()) {
+                game.getTouches().add(touch);
+            }
+        }
+        if (game.getPrevious().getLastFinishedTouch() != null) {
+            game.getTouches().add(game.getPrevious().getLastFinishedTouch());
+        }
 
         Ball ball = game.getBall();
         Vector3 ballPosition = ball.getPosition();
+        int robotsCloseToBall = 0;
+
+        //check if ball has randomly teleported
+        if (game.getBall().getLastTouchStarted() != null && !game.getBall().getLastTouchStarted().isFinished()) { // a robot is still touching the ball
+            Ball ball_ = game.getBall();
+            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())) {
+                return;
+            }
+        }
+
+        //find out how many robots are within 0.25m (needs testing to find out what range is effective)
+        for (Robot robot : game.getRobots()) {
+            if(robot.getPosition().xy().distance(ballPosition.xy()) < 0.25) {
+                robotsCloseToBall++;
+            }
+        }
 
         for (Robot robot : game.getRobots()) {
             Robot oldRobot = game.getPrevious().getRobot(robot.getIdentifier());
@@ -285,40 +308,43 @@ private void deriveTouch(Game game) {
             }
 
             Touch touch = robot.getTouch();
-
             float distance = robot.getPosition().xy().distance(ballPosition.xy());
 
-            // detect if there's a touch
-            if (distance <= robot.getTeam().getRobotRadius() + BALL_TOUCHING_DISTANCE && ball.getPosition().getZ() <= robot.getTeam().getRobotHeight() + BALL_TOUCHING_DISTANCE) {
-                ball.getRobotsTouching().add(robot);
-
-                // it just started touching ball, either when its the first frame or when
-                // in the previous frame the robot was not touching the ball.
-                robot.setJustTouchedBall(oldRobot == null || !oldRobot.isTouchingBall());
-            } else {
-                // robot is not touching ball
-                robot.setJustTouchedBall(false);
-                robot.setTouch(null);
-
-                if (touch != null) {
-                    // we update the touch to include the end position
-                    touch = new Touch(touch.id(), touch.startLocation(), ballPosition, touch.startTime(), game.getTime(), touch.startVelocity(), ball.getVelocity(), robot.getIdentifier());
-
-
-                    // if this touch is the kick into play, we update that too
-                    if (Objects.equals(touch, game.getKickIntoPlay())) {
-                        game.setKickIntoPlay(touch);
+            if (ball.isVisible()) {
+                // detect if there's a touch
+                if (distance <= robot.getTeam().getRobotRadius() + BALL_TOUCHING_DISTANCE && ball.getPosition().getZ()
+                        <= robot.getTeam().getRobotHeight() + BALL_TOUCHING_DISTANCE) {
+                    ball.getRobotsTouching().add(robot);
+
+                    // it just started touching ball, either when its the first frame or when
+                    // in the previous frame the robot was not touching the ball.
+                    robot.setJustTouchedBall(oldRobot == null || !oldRobot.isTouchingBall());
+                } else {
+                    // robot is not touching ball
+                    robot.setJustTouchedBall(false);
+                    robot.setTouch(null);
+
+                    if (touch != null) {
+                        // we update the touch to include the end position
+                        touch.setEndLocation(ballPosition);
+                        touch.setEndTime(game.getTime());
+                        touch.setEndVelocity(ball.getVelocity());
+
+                        // if this touch is the kick into play, we update that too
+                        if (Objects.equals(touch, game.getKickIntoPlay())) {
+                            game.setKickIntoPlay(touch);
+                        }
                     }
                 }
             }
 
             if (robot.hasJustTouchedBall()) {
                 // we create a new partial touch
-                touch = new Touch(nextTouchId++, ballPosition, null, game.getTime(), null, ball.getVelocity(), null, robot.getIdentifier());
+                touch = new Touch(nextTouchId++, ballPosition, game.getTime(), ball.getVelocity(), robotsCloseToBall, robot.getIdentifier());
                 ball.setLastTouchStarted(touch);
                 robot.setTouch(touch);
 
-                System.out.print("touch #" + touch.id() + " by " + robot.getIdentifier());
+                System.out.print("touch #" + touch.getId() + " by " + robot.getIdentifier());
 
                 // if this happened during kickoff or a free kick, this is the kick into play
                 if (game.getState() == GameState.KICKOFF || game.getState() == GameState.FREE_KICK) {
@@ -330,12 +356,12 @@ private void deriveTouch(Game game) {
 
                     System.out.print(" (kick into play)");
                 }
-
-                System.out.println();
+            } else if (touch != null) {
+                touch.updatePercentages(ball.isVisible(), robotsCloseToBall);
             }
 
             // to conclude, we add the touch to the game
-            if (touch != null) {
+            if (touch != null && !game.getTouches().contains(touch)) {
                 game.getTouches().add(touch);
             }
         }

src/main/java/nl/roboteamtwente/autoref/model/Touch.java

@@ -1,10 +1,45 @@
 package nl.roboteamtwente.autoref.model;
 
-public record Touch(int id, Vector3 startLocation, Vector3 endLocation, double startTime, Double endTime, Vector3 startVelocity, Vector3 endVelocity, RobotIdentifier by) {
+public class Touch {
+    int id;
+    private Vector3 startLocation;
+    private Vector3 endLocation;
+    private double startTime;
+    private Double endTime;
+    private Vector3 startVelocity;
+    private Vector3 endVelocity;
+    private float percentageBallSeen;
+    private float averageNumberOfRobotsCloseBy;
+    private int nOfDataPoints;
+    private RobotIdentifier by;
+
+    public Touch(int id, Vector3 startLocation, double startTime,
+                 Vector3 startVelocity, int numberOfRobotsCloseBy, RobotIdentifier by) {
+        this.id = id;
+        this.startLocation = startLocation;
+        this.endLocation = null;
+        this.startTime = startTime;
+        this.endTime = null;
+        this.startVelocity = startVelocity;
+        this.endVelocity = null;
+        this.percentageBallSeen = 1.0f;
+        this.averageNumberOfRobotsCloseBy = numberOfRobotsCloseBy;
+        this.nOfDataPoints = 1;
+        this.by = by;
+    }
+
     public boolean isFinished() {
         return this.endLocation != null;
     }
 
+    public void updatePercentages(boolean ballVisible, int numberOfRobotsCloseBy) {
+        int value = ballVisible ? 1 : 0;
+        this.percentageBallSeen = (this.percentageBallSeen * this.nOfDataPoints + value) / (nOfDataPoints + 1);
+        this.averageNumberOfRobotsCloseBy = (this.averageNumberOfRobotsCloseBy * this.nOfDataPoints
+                + numberOfRobotsCloseBy) / (nOfDataPoints + 1);
+        this.nOfDataPoints++;
+    }
+
     public float deflectionAngle() {
         float angle = startVelocity.xy().angle(endVelocity.xy());
         return Math.min(angle, 360 - angle);
@@ -18,4 +53,36 @@ public boolean equals(Object o) {
             return false;
         }
     }
+
+    public Vector3 getStartLocation() {
+        return startLocation;
+    }
+
+    public void setEndLocation(Vector3 endLocation) {
+        this.endLocation = endLocation;
+    }
+
+    public Vector3 getEndLocation() {
+        return endLocation;
+    }
+
+    public void setEndTime(Double endTime) {
+        this.endTime = endTime;
+    }
+
+    public Double getEndTime() {
+        return endTime;
+    }
+
+    public void setEndVelocity(Vector3 endVelocity) {
+        this.endVelocity = endVelocity;
+    }
+
+    public int getId() {
+        return id;
+    }
+
+    public RobotIdentifier getBy() {
+        return by;
+    }
 }

src/main/java/nl/roboteamtwente/autoref/validators/AimlessKickValidator.java

@@ -30,24 +30,24 @@ public RuleViolation validate(Game game) {
         }
 
         //Get the last robot who made the last touch
-        Robot byBot = game.getRobot(touch.by());
+        Robot byBot = game.getRobot(touch.getBy());
 
         //Check if the bot retrieved was in their own half before the ball went out.
-        if (game.getField().isInOwnHalf(byBot.getTeam().getSide(), touch.endLocation().xy())
+        if (game.getField().isInOwnHalf(byBot.getTeam().getSide(), touch.getEndLocation().xy())
                 && game.getTime() - lastViolation > GRACE_PERIOD) {
 
             //If the ball left the right goal line and the side of the bot was left then an aimless kick happened.
             if (game.getBall().getPosition().getX() > rightGoalLine.p1().getX()
                     && byBot.getTeam().getSide() == Side.LEFT) {
                 lastViolation = game.getTime();
-                return new Violation(byBot.getTeam().getColor(), byBot.getId(), game.getBall().getPosition().xy(), touch.endLocation().xy());
+                return new Violation(byBot.getTeam().getColor(), byBot.getId(), game.getBall().getPosition().xy(), touch.getEndLocation().xy());
             }
 
             //If the ball left the left goal line and the side of the bot was right then an aimless kick happened.
             if (game.getBall().getPosition().getX() < leftGoalLine.p1().getX()
                     && byBot.getTeam().getSide() == Side.RIGHT) {
                 lastViolation = game.getTime();
-                return new Violation(byBot.getTeam().getColor(), byBot.getId(), game.getBall().getPosition().xy(), touch.endLocation().xy());
+                return new Violation(byBot.getTeam().getColor(), byBot.getId(), game.getBall().getPosition().xy(), touch.getEndLocation().xy());
             }
         }
 

src/main/java/nl/roboteamtwente/autoref/validators/AttackerDoubleTouchedBallValidator.java

@@ -24,15 +24,15 @@ public RuleViolation validate(Game game) {
             return null;
         }
 
-        Robot robot = game.getRobot(kickIntoPlay.by());
+        Robot robot = game.getRobot(kickIntoPlay.getBy());
         Touch currentTouch = robot.getTouch();
 
         // Ball should move 0.05 meters before "in play", then another 0.05 meters before it's a violation.
         float distance = kickIntoPlay.isFinished() ? 0.05f : 0.10f;
 
-        if (!triggered && currentTouch != null && game.getBall().getPosition().distance(kickIntoPlay.startLocation()) >= distance) {
+        if (!triggered && currentTouch != null && game.getBall().getPosition().distance(kickIntoPlay.getStartLocation()) >= distance) {
             triggered = true;
-            return new Violation(robot.getTeam().getColor(),robot.getIdentifier(), game.getKickIntoPlay().startLocation().xy());
+            return new Violation(robot.getTeam().getColor(),robot.getIdentifier(), game.getKickIntoPlay().getStartLocation().xy());
         }
 
         return null;

src/main/java/nl/roboteamtwente/autoref/validators/BallLeftFieldGoalLineValidator.java

@@ -39,7 +39,7 @@ public RuleViolation validate(Game game) {
                 return null;
             }
 
-            RobotIdentifier byBot = game.getLastStartedTouch().by();
+            RobotIdentifier byBot = game.getLastStartedTouch().getBy();
             if (game.getTime() - lastViolations > GRACE_PERIOD) {
                 lastViolations = game.getTime();
                 return new Violation(byBot.teamColor(), byBot.id(), ball.xy());

src/main/java/nl/roboteamtwente/autoref/validators/BallLeftFieldTouchLineValidator.java

@@ -39,7 +39,7 @@ public RuleViolation validate(Game game) {
                 return null;
             }
 
-            RobotIdentifier byBot = game.getLastStartedTouch().by();
+            RobotIdentifier byBot = game.getLastStartedTouch().getBy();
             if (game.getTime() - lastViolations > GRACE_PERIOD) {
                 lastViolations = game.getTime();
                 return new Violation(byBot.teamColor(), byBot.id(), ball.xy());

src/main/java/nl/roboteamtwente/autoref/validators/BotDribbledBallTooFarValidator.java

@@ -26,9 +26,9 @@ public RuleViolation validate(Game game) {
         }
 
         for (Touch touch : game.getFinishedTouches()) {
-            Vector2 startLocation = touch.startLocation().xy();
-            Vector2 endLocation = touch.endLocation().xy();
-            Robot robot = game.getRobot(touch.by());
+            Vector2 startLocation = touch.getStartLocation().xy();
+            Vector2 endLocation = touch.getEndLocation().xy();
+            Robot robot = game.getRobot(touch.getBy());
             float dist = startLocation.distance(endLocation);
 
             if (dist <= 1) {

src/main/java/nl/roboteamtwente/autoref/validators/BotKickedBallTooFastValidator.java

@@ -32,7 +32,7 @@ public RuleViolation validate(Game game) {
 
         // If speed in one frame is higher than 6.5 m/s, ball was kicked too fast by the bot.
         if (speed > 6.5) {
-            RobotIdentifier robotID = game.getLastStartedTouch().by();
+            RobotIdentifier robotID = game.getLastStartedTouch().getBy();
             TeamColor team = robotID.teamColor();
             Vector2 location = ball.getPosition().xy();
 

src/main/java/nl/roboteamtwente/autoref/validators/BoundaryCrossingValidator.java

@@ -32,7 +32,7 @@ public RuleViolation validate(Game game) {
 
             triggered = true;
             if (touch != null) {
-                Robot byBot = game.getRobot(touch.by());
+                Robot byBot = game.getRobot(touch.getBy());
                 return new Violation(byBot.getTeam().getColor(), location);
             } else {
                 return new Violation(null, location);

src/main/java/nl/roboteamtwente/autoref/validators/DefenderInDefenseAreaValidator.java

@@ -62,7 +62,9 @@ public RuleViolation validate(Game game) {
             FieldLine penaltyStretch = game.getField().getLineByName(sideString + "PenaltyStretch");
             FieldLine rightPenaltyStretch = game.getField().getLineByName(sideString + "FieldRightPenaltyStretch");
             FieldLine leftPenaltyStretch = game.getField().getLineByName(sideString + "FieldLeftPenaltyStretch");
-            float dist = Math.min(Math.abs(game.getLastStartedTouch().startLocation().getX() - penaltyStretch.p1().getX()), Math.min(Math.abs( game.getLastStartedTouch().startLocation().getY() - rightPenaltyStretch.p1().getY()), Math.abs(game.getLastStartedTouch().startLocation().getY() - leftPenaltyStretch.p1().getY())));
+            float dist = Math.min(Math.abs(game.getLastStartedTouch().getStartLocation().getX() - penaltyStretch.p1().getX()),
+                    Math.min(Math.abs( game.getLastStartedTouch().getStartLocation().getY() - rightPenaltyStretch.p1().getY()),
+                    Math.abs(game.getLastStartedTouch().getStartLocation().getY() - leftPenaltyStretch.p1().getY())));
             if (!botStillOnCoolDown(robot.getIdentifier(), game.getTime())) {
                 lastViolations.put(robot.getIdentifier(), game.getTime());
                 return new Violation(robot.getTeam().getColor(), robot.getId(), robot.getPosition().xy(), dist);

src/main/java/nl/roboteamtwente/autoref/validators/PenaltyKickFailedValidator.java

@@ -23,12 +23,12 @@ public RuleViolation validate(Game game) {
 
         // if last finished touch was by goalkeeper
         Touch touch = game.getLastFinishedTouch();
-        if (touch.by().teamColor() != game.getStateForTeam() && game.getTeam(game.getStateForTeam().getOpponentColor()).getGoalkeeperId() == touch.by().id()) {
-            if (touch.deflectionAngle() >= 90.0f) {
-                valid = false;
-                return new Violation(touch.by().teamColor(), game.getBall().getPosition().xy(),
-                        "defending goalkeeper changed angle of velocity of ball by " + touch.deflectionAngle() + " degrees");
-            }
+        if (touch.getBy().teamColor() != game.getStateForTeam() && touch.deflectionAngle() >= 90.0f &&
+                game.getTeam(game.getStateForTeam().getOpponentColor()).getGoalkeeperId() == touch.getBy().id()) {
+            valid = false;
+            return new Violation(touch.getBy().teamColor(), game.getBall().getPosition().xy(),
+                    "defending goalkeeper changed angle of velocity of ball by " + touch.deflectionAngle() + " degrees");
+
         }
 
         return null;

src/main/java/nl/roboteamtwente/autoref/validators/PossibleGoalValidator.java

@@ -33,18 +33,18 @@ boolean checkBallInsideGoal(Game game, Side side, Vector2 ballPos) {
         FieldLine fieldLine = game.getField().getLineByName(fieldLineName);
         if (fieldLine != null) {
             // LeftToRightCoefficient if leftPenaltyStretch is positive otherwise negative
-            float LeftToRightCoefficient = 1;
+            float leftToRightCoefficient = 1;
             if (fieldLine.p1().getY() >= 0) {
-                LeftToRightCoefficient = 1;
+                leftToRightCoefficient = 1;
             } else {
-                LeftToRightCoefficient = -1;
+                leftToRightCoefficient = -1;
             }
             float leftPostP1x = fieldLine.p1().getX();
-            float leftPostP1y = (goalWidthLength/2) * LeftToRightCoefficient;
+            float leftPostP1y = (goalWidthLength/2) * leftToRightCoefficient;
 
             float leftPostP2x = leftPostP1x + side.getCardinality()*goalDepthLength;
 
-            float rightPostP1y = (goalWidthLength/2) * LeftToRightCoefficient * -1;
+            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))
@@ -69,10 +69,10 @@ public RuleViolation validate(Game game) {
         }
         Side ballSide = ballPos.getX() < 0 ? Side.LEFT : Side.RIGHT;
         if (checkBallInsideGoal(game, ballSide, ballPos)) {
-            Vector2 kickLocation = touch.endLocation().xy();
-            RobotIdentifier kickBot = touch.by();
+            Vector2 kickLocation = touch.getEndLocation().xy();
+            RobotIdentifier kickBot = touch.getBy();
             TeamColor kickingTeam = kickBot.teamColor();
-            double lastTouchTimeStampByTeam = touch.endTime();
+            double lastTouchTimeStampByTeam = touch.getEndTime();
             TeamColor byTeam;
 
             // Scoring team is the opposite team of the team owns the side