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Fix/possible goal #22

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merged 6 commits into from
Jul 1, 2024
Merged

Fix/possible goal #22

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72d5251
integer division doesnt work if you want to get a float result
rttwente Jul 1, 2024
15080b3
simplyfing goal checking code
rttwente Jul 1, 2024
ef4e663
fixing goal width
rttwente Jul 1, 2024
65dc5b2
fixing y check of goal
rttwente Jul 1, 2024
eb61efa
removing print statement
rttwente Jul 1, 2024
9d8dfc0
possble goal priority
rttwente Jul 1, 2024
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4 changes: 2 additions & 2 deletions src/main/java/nl/roboteamtwente/autoref/Referee.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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(),
Expand All @@ -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<>();
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12 changes: 10 additions & 2 deletions src/main/java/nl/roboteamtwente/autoref/SSLAutoRef.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
}

Expand Down Expand Up @@ -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;
}
}
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28 changes: 9 additions & 19 deletions src/main/java/nl/roboteamtwente/autoref/validators/PossibleGoalValidator.java
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Expand Up @@ -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;
}
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