Merge pull request #21 from RoboTeamTwente/fix/bot-crash

Fix/bot crash
RoboTeamTwente · Jun 28, 2024 · 5fea9e9 · 5fea9e9
2 parents 4152b08 + 4fe0cd0
commit 5fea9e9
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Showing 3 changed files with 16 additions and 10 deletions.
diff --git a/src/main/java/nl/roboteamtwente/autoref/SSLAutoRef.java b/src/main/java/nl/roboteamtwente/autoref/SSLAutoRef.java
@@ -27,6 +27,7 @@ public class SSLAutoRef {
 
     private int commands = 0;
     private int nextTouchId = 0;
+    private long time_counter = 0;
 
     public SSLAutoRef() {
         this.referee = new Referee();
@@ -67,6 +68,10 @@ public void processWorldState(StateOuterClass.State statePacket) {
         gameStateChanges(game);
 
         referee.setGame(game);
+        time_counter += 1;
+        if (time_counter % 80 == 0) {
+            System.out.println("AUTOREF ALIVE");
+        }
     }
 
     /**

diff --git a/src/main/java/nl/roboteamtwente/autoref/WorldConnection.java b/src/main/java/nl/roboteamtwente/autoref/WorldConnection.java
@@ -35,18 +35,19 @@ public void connect() {
      * Receive and process messages
      */
     public void listener() {
-        try {
-            while (!Thread.currentThread().isInterrupted() && worldSocket != null) {
+        while (!Thread.currentThread().isInterrupted() && worldSocket != null) {
+            try {
                 byte[] buffer = worldSocket.recv();
                 StateOuterClass.State packet = StateOuterClass.State.parseFrom(buffer);
                 ref.checkViolations(packet);
-            }
-        } catch (InvalidProtocolBufferException e) {
-            e.printStackTrace();
-        } catch (ZMQException e) {
-            //4 is the error code when we close the connection by hand, which can be ignored
-            if (e.getErrorCode() != 4) {
+
+            } catch (InvalidProtocolBufferException e) {
                 e.printStackTrace();
+            } catch (ZMQException e) {
+                //4 is the error code when we close the connection by hand, which can be ignored
+                if (e.getErrorCode() != 4) {
+                    e.printStackTrace();
+                }
             }
         }
     }

diff --git a/src/main/java/nl/roboteamtwente/autoref/validators/BotCrashingValidator.java b/src/main/java/nl/roboteamtwente/autoref/validators/BotCrashingValidator.java
@@ -13,7 +13,7 @@
 
 public class BotCrashingValidator implements RuleValidator {
 
-    private static final float BOT_CRASH_DISTANCE = 0.2f;
+    private static final float BOT_CRASH_DISTANCE = 0.005f;
     private static final float SPEED_VECTOR_THRESHOLD = 1.5f;
     private static final float MIN_SPEED_DIFFERENCE = 0.3f;
     private static final double GRACE_PERIOD = 2.0;
@@ -111,7 +111,7 @@ public RuleViolation validate(Game game) {
                 Vector2 robotBlueVel = robotBlue.getVelocity().xy();
                 float distanceBetweenRobots = robotYellowPos.distance(robotBluePos);
 
-                if (distanceBetweenRobots <= BOT_CRASH_DISTANCE) {
+                if (distanceBetweenRobots <= robotYellow.getRadius() + robotBlue.getRadius() + BOT_CRASH_DISTANCE) {
                     // projection length of difference between speed vector
                     float crashSpeed = calculateCollisionVelocity(robotBluePos, robotBlueVel, robotYellowPos, robotYellowVel);