Add an offset for checking recent committed fouls for invalid goal check

Author: g3force

internal/app/statemachine/change_gameevent.go

@@ -266,14 +266,17 @@ func (s *StateMachine) isGoalValid(newState *state.State, gameEvent *state.GameE
 		return
 	}
 
-	// 3. The team did not commit any non stopping foul since the teams robots last touched the ball.
+	// 3. The team did not commit any non-stopping foul since the teams robots last touched the ball.
 	var recentlyCommittedFouls []state.GameEvent_Type
+	var gracePeriod = 2 * time.Second
 	for _, foul := range newState.TeamInfo(byTeam).Fouls {
 		if foul.CausedByGameEvent != nil &&
 			foul.Timestamp != nil &&
 			gameEvent.GetPossibleGoal().LastTouchByTeam != nil &&
 			isNonStoppingFoul(*foul.CausedByGameEvent.Type) &&
-			foul.Timestamp.AsTime().After(microTimestampToTime(*gameEvent.GetPossibleGoal().LastTouchByTeam)) {
+			// add some time offset: If a bot committed a foul by touching ball inside the penalty area and scores
+			// a goal shortly afterwards, the foul would have been before lastTouchedByTeam
+			foul.Timestamp.AsTime().Add(gracePeriod).After(microTimestampToTime(*gameEvent.GetPossibleGoal().LastTouchByTeam)) {
 			recentlyCommittedFouls = append(recentlyCommittedFouls, *foul.CausedByGameEvent.Type)
 		}
 	}