Resolve "Tune pass detection and TC play"

Closes #1638

See merge request main/Sumatra!1381

sumatra-commit: f58388ba0227b6e80e42dd16fec837ab25999dd4

modules/moduli-autoreferee/src/main/java/edu/tigers/autoreferee/engine/calc/PassDetectionAutoRefCalc.java

@@ -56,6 +56,7 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 	private int passId;
 	private Pass lastPass;
 	private IKickEvent lastConsumedKickEvent;
+	private int numValidPasses;
 
 
 	@Override
@@ -63,12 +64,18 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 	{
 		if (!enabled || !frame.getGameState().isRunning())
 		{
+			if (numValidPasses > 0)
+			{
+				log.info("Detected {} valid passes.", numValidPasses);
+			}
+
 			passId = 0;
 			lastKickEvent = null;
 			lastKickFitState = null;
 			ballVel.clear();
 			lastPass = null;
 			lastPasses.clear();
+			numValidPasses = 0;
 			return;
 		}
 
@@ -83,6 +90,10 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 				}
 				lastPasses.add(pass);
 				log.info("Detected pass: {}", lastPass);
+				if (pass.isValid())
+				{
+					numValidPasses++;
+				}
 			});
 		}
 
@@ -145,11 +156,9 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 		var direction = target.subtractNew(source).getAngle();
 		var directionChange = getDirectionChange(direction);
 		var initialBallSpeed = lastKickFitState.getAbsoluteKickSpeed();
-		var valid = (directionChange == null || directionChange > minDirectionChange)
-				&& distance > minDistance
-				&& initialBallSpeed <= RuleConstraints.getMaxBallSpeed();
+		var valid = isValid(distance, receiver, directionChange, initialBallSpeed);
 		return Optional.of(Pass.builder()
-				.id(passId++)
+				.id(++passId)
 				.timestamp(lastKickEvent.getTimestamp())
 				.distance(distance)
 				.direction(direction)
@@ -165,6 +174,18 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 	}
 
 
+	private boolean isValid(double distance, BotID receiver, Double directionChange, double initialBallSpeed)
+	{
+		if (directionChange != null && directionChange < minDirectionChange)
+		{
+			return false;
+		}
+		return distance >= minDistance
+				&& initialBallSpeed <= RuleConstraints.getMaxBallSpeed()
+				&& getLastShooter() != receiver;
+	}
+
+
 	private Double getDirectionChange(double direction)
 	{
 		if (lastPass != null)
@@ -175,6 +196,16 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 	}
 
 
+	private BotID getLastShooter()
+	{
+		if (lastPass != null)
+		{
+			return lastPass.getShooter();
+		}
+		return BotID.noBot();
+	}
+
+
 	private boolean passFinished(AutoRefFrame frame)
 	{
 		if (lastKickEvent == null ||

modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/BallFilter.java

@@ -178,7 +178,8 @@ public class BallFilter
 			KickFitResult kickFitResult = optBestKickFitResult.get();
 
 			filteredKick = FilteredVisionKick.builder()
-					.withKickTimestamp(kickFitResult.getKickTimestamp())
+					.withKickTimestamp(lastKickEvent.getTimestamp())
+					.withTrajectoryStartTime(kickFitResult.getKickTimestamp())
 					.withKickingBot(lastKickEvent.getKickingBot())
 					.withKickingBotPosition(lastKickEvent.getKickingBotPosition())
 					.withKickingBotOrientation(lastKickEvent.getBotDirection())

modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/data/FilteredVisionKick.java

@@ -16,6 +16,7 @@ import lombok.Value;
 public class FilteredVisionKick
 {
 	long kickTimestamp;
+	long trajectoryStartTime;
 
 	BotID kickingBot;
 	IVector2 kickingBotPosition;

modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/kick/validators/DistanceValidator.java

 /*
- * Copyright (c) 2009 - 2020, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
  */
 package edu.tigers.sumatra.vision.kick.validators;
 
@@ -29,8 +29,8 @@ public class DistanceValidator implements IKickValidator
 	@Configurable(defValue = "130.0", comment = "First sample must be closer, all others further away than this")
 	private static double	thresholdDist1			= 130.0;
 
-	@Configurable(defValue = "150.0", comment = "First sample must be closer, all others further away than this (alternative)")
-	private static double	thresholdDist2			= 150.0;
+	@Configurable(defValue = "170.0", comment = "First sample must be closer, all others further away than this (alternative)")
+	private static double	thresholdDist2			= 170.0;
 
 	static
 	{

modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/WorldInfoCollector.java

@@ -287,7 +287,7 @@ public class WorldInfoCollector extends AWorldPredictor
 
 		var kick = filteredVisionFrame.getKick().get();
 		return new BallKickFitState(kick.getBallTrajectory().getInitialPos().getXYVector(),
-				kick.getBallTrajectory().getInitialVel(), kick.getKickTimestamp());
+				kick.getBallTrajectory().getInitialVel(), kick.getTrajectoryStartTime());
 	}