Resolve "Fix dribbling detection starting point"

Closes #1715

See merge request main/Sumatra!1481

sumatra-commit: f03a7672cc84516e4731311b7a8c7e91a008dd50

modules/moduli-autoreferee/src/main/java/edu/tigers/autoreferee/EAutoRefShapesLayer.java

 /*
- * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2022, DHBW Mannheim - TIGERs Mannheim
  */
 package edu.tigers.autoreferee;
 
@@ -18,11 +18,12 @@ public enum EAutoRefShapesLayer implements IShapeLayer
 	LAST_BALL_CONTACT_EXT("Ball Contact ext", "AutoReferee", false),
 	BALL_LEFT_FIELD("Ball Left Field", "AutoReferee", true),
 	ALLOWED_DISTANCES("Allowed Distances", "AutoReferee", true),
+	ALLOWED_DRIBBLING_DISTANCE("Allowed Dribbling Distances", "AutoReferee", true),
 	VIOLATED_DISTANCES("Violated Distances", "AutoReferee", true),
 	MODE("AutoRef Mode", "AutoReferee", true),
 	PUSHING("Pushing Detector", "AutoReferee", true),
 	PASS_DETECTION("Pass Detection", "AutoReferee", true),
-	
+
 	;
 
 	private final String id;
@@ -38,33 +39,33 @@ public enum EAutoRefShapesLayer implements IShapeLayer
 		this.visible = visible;
 		id = EAutoRefShapesLayer.class.getCanonicalName() + name();
 	}
-	
-	
+
+
 	@Override
 	public String getCategory()
 	{
 		return category;
 	}
-	
-	
+
+
 	@Override
 	public String getLayerName()
 	{
 		return name;
 	}
-	
-	
+
+
 	@Override
 	public String getId()
 	{
 		return id;
 	}
-	
-	
+
+
 	@Override
 	public boolean isVisibleByDefault()
 	{
 		return visible;
 	}
-	
+
 }

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

 /*
- * Copyright (c) 2009 - 2018, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2022, DHBW Mannheim - TIGERs Mannheim
  */
 package edu.tigers.autoreferee.engine.detector;
 
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-import java.util.Optional;
-
 import com.github.g3force.configurable.Configurable;
-
+import edu.tigers.autoreferee.EAutoRefShapesLayer;
 import edu.tigers.autoreferee.generic.BotPosition;
+import edu.tigers.sumatra.drawable.DrawableCircle;
+import edu.tigers.sumatra.geometry.Geometry;
 import edu.tigers.sumatra.ids.BotID;
 import edu.tigers.sumatra.math.vector.IVector2;
 import edu.tigers.sumatra.referee.data.EGameState;
 import edu.tigers.sumatra.referee.gameevent.BotDribbledBallTooFar;
 import edu.tigers.sumatra.referee.gameevent.IGameEvent;
 
+import java.awt.Color;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+import java.util.stream.Collectors;
+
 
 /**
  * Detect if bots dribble the ball over a large distance.
@@ -25,57 +29,63 @@ public class DribblingDetector extends AGameEventDetector
 {
 	@Configurable(comment = "[mm] Any dribbling distance above this value is considered a violation", defValue = "1000.0")
 	private static double maxDribblingLength = 1000.0;
-	
-	private final Map<BotID, BotPosition> currentContacts = new HashMap<>();
-	
-	
+
+	private final Map<BotID, IVector2> currentContacts = new HashMap<>();
+
+
 	public DribblingDetector()
 	{
 		super(EGameEventDetectorType.DRIBBLING, EGameState.RUNNING);
 	}
-	
-	
+
+
 	@Override
 	public Optional<IGameEvent> doUpdate()
 	{
+		IVector2 ballPos = getBall().getPos();
 		List<BotPosition> botsTouchingBall = frame.getBotsTouchingBall();
-		
+
 		// add new touching bots
-		botsTouchingBall.forEach(b -> currentContacts.putIfAbsent(b.getBotID(), b));
+		botsTouchingBall.stream()
+				// bots are considered touching ball quite early, so only accept them here if ball is close
+				// This is fine here, because we do not need to consider ball reflection
+				.filter(bp -> bp.getPos().distanceTo(ballPos) < Geometry.getBotRadius() + Geometry.getBallRadius() + 10)
+				.forEach(bp -> currentContacts.putIfAbsent(bp.getBotID(), ballPos));
 		// remove vanished touching bots
 		currentContacts.keySet().removeIf(k -> botsTouchingBall.stream().noneMatch(b -> b.getBotID().equals(k)));
-		
-		Optional<IGameEvent> gameEvent = botsTouchingBall.stream()
-				.filter(b -> dribbleDistance(b) > maxDribblingLength)
-				.findFirst()
-				.map(this::createViolation);
-		
-		gameEvent.ifPresent(g -> doReset());
-		return gameEvent;
-	}
-	
-	
-	private IVector2 dribbleStartPosition(final BotID botID)
-	{
-		return currentContacts.get(botID).getPos();
+
+		currentContacts.values().forEach(this::drawCircle);
+
+		Map<BotID, Double> dribbleDistances = currentContacts.entrySet().stream()
+				.collect(Collectors.toMap(Map.Entry::getKey, e -> dribbleDistance(e.getValue())));
+
+		Optional<BotID> violatingBot = dribbleDistances.entrySet().stream()
+				.filter(e -> e.getValue() > maxDribblingLength)
+				.min(Map.Entry.comparingByValue())
+				.map(Map.Entry::getKey);
+
+		violatingBot.ifPresent(currentContacts::remove);
+		return violatingBot.map(botId -> new BotDribbledBallTooFar(botId, currentContacts.get(botId), ballPos));
 	}
-	
-	
-	private double dribbleDistance(final BotPosition b)
+
+
+	private void drawCircle(IVector2 pos)
 	{
-		return b.getPos().distanceTo(dribbleStartPosition(b.getBotID()));
+		frame.getShapes().get(EAutoRefShapesLayer.ALLOWED_DRIBBLING_DISTANCE).add(
+				new DrawableCircle(pos, maxDribblingLength).setColor(Color.red)
+		);
+		frame.getShapes().get(EAutoRefShapesLayer.ALLOWED_DRIBBLING_DISTANCE).add(
+				new DrawableCircle(pos, 10).setColor(Color.red)
+		);
 	}
-	
-	
-	private BotDribbledBallTooFar createViolation(final BotPosition finalBotPosition)
+
+
+	private double dribbleDistance(IVector2 startPos)
 	{
-		final BotID violatorId = finalBotPosition.getBotID();
-		final IVector2 kickPos = dribbleStartPosition(finalBotPosition.getBotID());
-		
-		return new BotDribbledBallTooFar(violatorId, kickPos, finalBotPosition.getPos());
+		return startPos.distanceTo(getBall().getPos());
 	}
-	
-	
+
+
 	@Override
 	protected void doReset()
 	{