fix(goal-counting): Take frame timestamp instead of analyzer time for…

… grace period comparison

foosball/models.py

@@ -1,5 +1,6 @@
 import collections
 from dataclasses import dataclass
+from datetime import datetime
 from enum import Enum
 from typing import Optional, Union
 
@@ -162,4 +163,4 @@ class PreprocessResult:
     preprocessed: Optional[CPUFrame]
     homography_matrix: Optional[np.ndarray]  # 3x3 matrix used to warp the image and project points
     goals: Optional[Goals]
-    info: Info
+    info: InfoLog

foosball/pipe/BaseProcess.py

@@ -3,6 +3,7 @@
 import logging
 import multiprocessing
 import traceback
+import datetime as dt
 from queue import Empty, Full
 
 from foosball.pipe.Pipe import clear, SENTINEL
@@ -12,14 +13,16 @@
 class Msg:
     args: list[any]
     kwargs: dict
+    timestamp: dt.datetime = dt.datetime.now()
 
-    def __init__(self, args=None, kwargs=None):
+    def __init__(self, args=None, kwargs=None, timestamp=dt.datetime.now()):
         if kwargs is None:
             kwargs = dict()
         if args is None:
             args = list()
         self.kwargs = kwargs
         self.args = args
+        self.timestamp = timestamp
 
 
 class BaseProcess(multiprocessing.Process):

foosball/source/__init__.py

@@ -1,4 +1,5 @@
 import multiprocessing
+import datetime as dt
 from abc import abstractmethod
 from multiprocessing import Queue
 from queue import Full
@@ -53,8 +54,8 @@ def read_frame(self) -> (bool, Frame):
     def output(self) -> multiprocessing.Queue:
         return self.Q
 
-    def send_frame(self, frame) -> None:
-        msg = Msg(kwargs={'frame': frame}) if frame is not None else None
+    def send_frame(self, frame: Frame) -> None:
+        msg = Msg(timestamp=dt.datetime.now(), kwargs={'frame': frame}) if frame is not None else None
         while True:
             try:
                 # try to put it into the queue

foosball/tracking/analyze.py

@@ -61,8 +61,7 @@ def process(self, msg: Msg) -> Msg:
         info = track_result.info
         try:
             self.check_reset_score()
-            now = dt.datetime.now()
-            # TODO: define goal grace period in seconds of runtime not seconds in rendering!
+            now = msg.timestamp  # take frame timestamp as now instead of dt.datetime.now (to prevent drift due to pushing/dragging pipeline)
             no_track_sighting_in_grace_period = (now - self.last_track_sighting).total_seconds() >= self.goal_grace_period_sec if self.last_track_sighting is not None else None
             if not self.is_track_empty(track):
                 # track is not empty, so we save our state and remove a potential goal (which was wrongly tracked)
@@ -84,8 +83,7 @@ def process(self, msg: Msg) -> Msg:
             traceback.print_exc()
         self.last_track = track
         info.append(Info(verbosity=Verbosity.INFO, title="Score", value=self.score.to_string()))
-        return Msg(kwargs={"result": AnalyzeResult(score=self.score, ball=ball, goals=goals, frame=frame, info=info,
-                                                   ball_track=track)})
+        return Msg(timestamp=msg.timestamp, kwargs={"result": AnalyzeResult(score=self.score, ball=ball, goals=goals, frame=frame, info=info, ball_track=track)})
 
     def check_reset_score(self):
         if self.score_reset.is_set():

foosball/tracking/preprocess.py

@@ -147,7 +147,7 @@ def process(self, msg: Msg) -> Msg:
         except Exception as e:
             self.logger.error(f"Error in preprocess {e}")
             traceback.print_exc()
-        return Msg(kwargs={"result": PreprocessResult(self.iproc(frame), self.iproc(preprocessed), self.homography_matrix, self.goals, info)})
+        return Msg(timestamp=msg.timestamp, kwargs={"result": PreprocessResult(self.iproc(frame), self.iproc(preprocessed), self.homography_matrix, self.goals, info)})
 
     @staticmethod
     def corners2pt(corners) -> [int, int]:

foosball/tracking/tracker.py

@@ -107,6 +107,6 @@ def process(self, msg: Msg) -> Msg:
             logger.error(f"Error in track {e}")
             traceback.print_exc()
         if not self.verbose:
-            return Msg(kwargs={"result": TrackResult(preprocess_result.original, goals, ball_track, ball, info)})
+            return Msg(timestamp=msg.timestamp, kwargs={"result": TrackResult(preprocess_result.original, goals, ball_track, ball, info)})
         else:
-            return Msg(kwargs={"result": TrackResult(preprocess_result.preprocessed, goals, ball_track, ball, info)})
+            return Msg(timestamp=msg.timestamp, kwargs={"result": TrackResult(preprocess_result.preprocessed, goals, ball_track, ball, info)})