Resolve "Fix autoRef integration test failures"

Closes #1637

See merge request main/Sumatra!1380

sumatra-commit: 27841becc6340e0169551287410d51a8865d86cc

modules/autoreferee-gui/src/main/java/edu/tigers/autoref/model/ballspeed/BallSpeedModel.java

@@ -36,8 +36,7 @@ public class BallSpeedModel
 		lastBallSpeed = wFrameWrapper.getSimpleWorldFrame().getBall().getVel3().getLength();
 		lastEstimatedBallSpeed = wFrameWrapper.getSimpleWorldFrame().getKickFitState()
 				.map(BallKickFitState::getKickVel)
-				.map(IVector3::getLength).orElse(0.0)
-				/ 1000.0;
+				.map(IVector3::getLength).orElse(0.0);
 		
 		lastState = curState;
 		

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

@@ -40,7 +40,8 @@ public class BotBallContactAutoRefCalc implements IAutoRefereeCalc
 
 		if (currentlyTouchingBots.isEmpty())
 		{
-			var newKickEvent = frame.getWorldFrame().getKickEvent().filter(k -> !k.equals(lastKickEvent));
+			var newKickEvent = frame.getWorldFrame().getKickEvent()
+					.filter(k -> lastKickEvent == null || k.getTimestamp() != lastKickEvent.getTimestamp());
 			lastBotTouchedBall = newKickEvent
 					.map(k -> new BotPosition(k.getTimestamp(), k.getPosition(), k.getKickingBot()))
 					.map(List::of)

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

@@ -57,6 +57,7 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 	private Pass lastPass;
 	private IKickEvent lastConsumedKickEvent;
 
+
 	@Override
 	public void process(AutoRefFrame frame)
 	{
@@ -143,7 +144,7 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 
 		var direction = target.subtractNew(source).getAngle();
 		var directionChange = getDirectionChange(direction);
-		var initialBallSpeed = lastKickFitState.getAbsoluteKickSpeed() / 1000;
+		var initialBallSpeed = lastKickFitState.getAbsoluteKickSpeed();
 		var valid = (directionChange == null || directionChange > minDirectionChange)
 				&& distance > minDistance
 				&& initialBallSpeed <= RuleConstraints.getMaxBallSpeed();
@@ -176,7 +177,8 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 
 	private boolean passFinished(AutoRefFrame frame)
 	{
-		if (lastKickEvent == null || lastKickEvent.equals(lastConsumedKickEvent))
+		if (lastKickEvent == null ||
+				(lastConsumedKickEvent != null && lastKickEvent.getTimestamp() == lastConsumedKickEvent.getTimestamp()))
 		{
 			return false;
 		}
@@ -193,7 +195,7 @@ public class PassDetectionAutoRefCalc implements IAutoRefereeCalc
 			// kick event reset - ball might be received and stopped by receiver
 			return true;
 		}
-		if (!newKickEvent.equals(lastKickEvent))
+		if (newKickEvent.getTimestamp() != lastKickEvent.getTimestamp())
 		{
 			// kick event changed
 			return true;

modules/moduli-autoreferee/src/main/java/edu/tigers/autoreferee/engine/detector/BallSpeedingDetector.java

@@ -26,8 +26,8 @@ public class BallSpeedingDetector extends AGameEventDetector
 	@Configurable(comment = "Max waiting time [s]", defValue = "0.8")
 	private static double maxWaitingTime = 0.8;
 
-	@Configurable(comment = "Min waiting time [s]", defValue = "0.2")
-	private static double minWaitingTime = 0.2;
+	@Configurable(comment = "Min waiting time [s]", defValue = "0.1")
+	private static double minWaitingTime = 0.1;
 
 
 	private IKickEvent lastReportedKickEvent;
@@ -42,46 +42,37 @@ public class BallSpeedingDetector extends AGameEventDetector
 	@Override
 	public Optional<IGameEvent> doUpdate()
 	{
-		if (frame.getPreviousFrame().getWorldFrame().getKickFitState().isEmpty()
-				|| frame.getWorldFrame().getKickEvent().isEmpty())
+		Optional<BallKickFitState> lastKickFitState = frame.getPreviousFrame().getWorldFrame().getKickFitState();
+		Optional<IKickEvent> lastKickEvent = frame.getPreviousFrame().getWorldFrame().getKickEvent();
+		if (lastKickFitState.isEmpty() || lastKickEvent.isEmpty())
 		{
 			return Optional.empty();
 		}
 
-		IKickEvent currentKickEvent = frame.getWorldFrame().getKickEvent().get();
-
-		if (kickEventHasBeenReported(currentKickEvent))
+		Optional<IKickEvent> currentKickEvent = frame.getWorldFrame().getKickEvent();
+		if (kickEventHasBeenReported(currentKickEvent.orElse(lastKickEvent.get())))
 		{
 			return Optional.empty();
 		}
 
 		// take the last kickFitState, because if the ball hits another robot, we still want to have the original ball
 		// velocity
-		BallKickFitState lastKickFitState = frame.getPreviousFrame().getWorldFrame().getKickFitState().get();
-		double kickSpeed = lastKickFitState.getKickVel().getLength() / 1000.;
-		if (isKickTooFast(kickSpeed)
-				&& kickEstimateIsReady(currentKickEvent, lastKickFitState))
+		double kickSpeed = lastKickFitState.get().getKickVel().getLength();
+		if (isKickTooFast(kickSpeed) && kickEstimateIsReady(lastKickFitState.get()))
 		{
-			lastReportedKickEvent = currentKickEvent;
-			IGameEvent violation;
-			if (lastKickFitState.getKickPos().distanceTo(currentKickEvent.getPosition()) < 1000)
-			{
-				violation = createViolation(currentKickEvent.getKickingBot(), kickSpeed);
-			} else if (frame.getBotsLastTouchedBall().size() == 1)
-			{
-				violation = createViolation(frame.getBotsLastTouchedBall().get(0).getBotID(), kickSpeed);
-			} else
+			lastReportedKickEvent = lastKickEvent.get();
+			if (lastReportedKickEvent.getKickingBot().isBot())
 			{
-				// could not determine the violator
-				return Optional.empty();
+				return Optional.of(createViolation(lastReportedKickEvent.getKickingBot(), kickSpeed));
 			}
-			return Optional.of(violation);
+			// could not determine the violator
+			return Optional.empty();
 		}
 
-		if (ballTouchedAnotherRobot(currentKickEvent))
+		if (kickFinished())
 		{
 			// reset detection for this kick event
-			lastReportedKickEvent = currentKickEvent;
+			lastReportedKickEvent = lastKickEvent.get();
 		}
 
 		return Optional.empty();
@@ -94,17 +85,21 @@ public class BallSpeedingDetector extends AGameEventDetector
 	}
 
 
-	private boolean kickEstimateIsReady(final IKickEvent currentKickEvent, BallKickFitState lastKickFitState)
+	private boolean kickEstimateIsReady(BallKickFitState lastKickFitState)
 	{
-		double kickEstimateAge = (frame.getTimestamp() - currentKickEvent.getTimestamp()) / 1e9;
 		double kickFitEstimateAge = (frame.getTimestamp() - lastKickFitState.getKickTimestamp()) / 1e9;
-		boolean kickEstimateIsReady = kickEstimateAge > maxWaitingTime;
 		boolean kickEstimateAged = kickFitEstimateAge > minWaitingTime;
-
+		boolean kickEstimateIsReady = kickFitEstimateAge > maxWaitingTime;
 
 		// either time is up, or ball has left the field, or ball touched another bot
-		return kickEstimateAged &&
-				(kickEstimateIsReady || ballIsNotInsideField() || ballTouchedAnotherRobot(currentKickEvent));
+		return kickEstimateAged && (kickEstimateIsReady || kickFinished());
+	}
+
+
+	private boolean kickFinished()
+	{
+		var kickEvent = frame.getWorldFrame().getKickEvent();
+		return kickEvent.isEmpty() || ballIsNotInsideField() || ballTouchedAnotherRobot(kickEvent.get());
 	}
 
 

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

@@ -70,7 +70,7 @@ public class TrackerPacketGenerator
 		final SslVisionDetectionTracked.KickedBall.Builder kickedBall = SslVisionDetectionTracked.KickedBall
 				.newBuilder()
 				.setPos(buildVector2(ballKickFitState.getKickPos().multiplyNew(1e-3)))
-				.setVel(buildVector3(ballKickFitState.getKickVel().multiplyNew(1e-3)))
+				.setVel(buildVector3(ballKickFitState.getKickVel()))
 				.setStartTimestamp(buildTimestamp(ballKickFitState.getKickTimestamp()))
 				.setStopTimestamp(buildTimestamp(stopTimestamp))
 				.setStopPos(buildVector2(stopPos.multiplyNew(1e-3)));

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

@@ -27,7 +27,7 @@ public class BallKickFitState implements IMirrorable<BallKickFitState>
 	IVector2 kickPos;
 
 	/**
-	 * Kick velocity [mm/s]
+	 * Kick velocity [m/s]
 	 */
 	IVector3 kickVel;
 

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

@@ -71,7 +71,7 @@ public class RefereeVisCalc implements IWpCalc
 
 		double ballSpeed = wfw.getSimpleWorldFrame().getBall().getVel3().getLength();
 		double initBallSpeed = wfw.getSimpleWorldFrame().getKickFitState()
-				.map(BallKickFitState::getAbsoluteKickSpeed).orElse(0.0) / 1000.0;
+				.map(BallKickFitState::getAbsoluteKickSpeed).orElse(0.0);
 		double ballHeight = wfw.getSimpleWorldFrame().getBall().getPos3().z();
 		String ballVelStr = "Ball vel: " + dfBallVel.format(ballSpeed) + "| "
 				+ dfBallVel.format(initBallSpeed) + "; height: " + dfBallVel.format(ballHeight);