Resolve "Fine-tune ER-Force simulator integration"

Closes #1630

See merge request main/Sumatra!1371

sumatra-commit: 88a755f54e7c9b09bac732631e8ef68cff1392d8

modules/common/src/main/java/edu/tigers/sumatra/ids/EAiTeam.java

 /*
- * Copyright (c) 2009 - 2018, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
  */
 
 package edu.tigers.sumatra.ids;
@@ -16,8 +16,8 @@ import lombok.Getter;
 @Getter
 public enum EAiTeam
 {
-	BLUE(ETeamColor.BLUE),
 	YELLOW(ETeamColor.YELLOW),
+	BLUE(ETeamColor.BLUE),
 
 	;
 

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

@@ -55,6 +55,13 @@ public class BallPlacementInterferenceDetector extends AGameEventDetector
 	@Override
 	protected Optional<IGameEvent> doUpdate()
 	{
+		if (!frame.getWorldFrame().getBall().isOnCam(0.2))
+		{
+			// Can not see the ball
+			violators.clear();
+			return Optional.empty();
+		}
+
 		Set<BotID> violatingBots = violatingBots();
 		violators.removeIf(b -> !violatingBots.contains(b.getBotId()));
 		violatingBots.stream().filter(this::isNewViolator)

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

@@ -60,7 +60,7 @@ public class BallSpeedingDetector extends AGameEventDetector
 		BallKickFitState lastKickFitState = frame.getPreviousFrame().getWorldFrame().getKickFitState().get();
 		double kickSpeed = lastKickFitState.getKickVel().getLength() / 1000.;
 		if (isKickTooFast(kickSpeed)
-				&& kickEstimateIsReady(currentKickEvent))
+				&& kickEstimateIsReady(currentKickEvent, lastKickFitState))
 		{
 			lastReportedKickEvent = currentKickEvent;
 			IGameEvent violation;
@@ -94,11 +94,12 @@ public class BallSpeedingDetector extends AGameEventDetector
 	}
 
 
-	private boolean kickEstimateIsReady(final IKickEvent currentKickEvent)
+	private boolean kickEstimateIsReady(final IKickEvent currentKickEvent, BallKickFitState lastKickFitState)
 	{
 		double kickEstimateAge = (frame.getTimestamp() - currentKickEvent.getTimestamp()) / 1e9;
+		double kickFitEstimateAge = (frame.getTimestamp() - lastKickFitState.getKickTimestamp()) / 1e9;
 		boolean kickEstimateIsReady = kickEstimateAge > maxWaitingTime;
-		boolean kickEstimateAged = kickEstimateAge > minWaitingTime;
+		boolean kickEstimateAged = kickFitEstimateAge > minWaitingTime;
 
 
 		// either time is up, or ball has left the field, or ball touched another bot

modules/moduli-referee/src/main/java/edu/tigers/sumatra/referee/source/NetworkRefereeReceiver.java

 /*
- * Copyright (c) 2009 - 2020, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
  */
 package edu.tigers.sumatra.referee.source;
 
@@ -49,7 +49,9 @@ public class NetworkRefereeReceiver extends ARefereeMessageSource implements Run
 	}
 
 
-	/** Constructor */
+	/**
+	 * Constructor
+	 */
 	public NetworkRefereeReceiver()
 	{
 		super(ERefereeMessageSource.NETWORK);
@@ -96,19 +98,21 @@ public class NetworkRefereeReceiver extends ARefereeMessageSource implements Run
 				break;
 			}
 
+			if (packet.getLength() > 0)
+			{
 				refBoxAddress = packet.getAddress();
-			final ByteArrayInputStream packetIn = new ByteArrayInputStream(packet.getData(), 0, packet.getLength());
 
-			SslGcRefereeMessage.Referee sslRefereeMsg;
 				try
 				{
-				sslRefereeMsg = SslGcRefereeMessage.Referee.parseFrom(packetIn);
+					var packetIn = new ByteArrayInputStream(packet.getData(), 0, packet.getLength());
+					var sslRefereeMsg = SslGcRefereeMessage.Referee.parseFrom(packetIn);
 
 					// Notify the receipt of a new RefereeMessage to any other observers
 					notifyNewRefereeMessage(sslRefereeMsg);
 				} catch (IOException err)
 				{
-				log.error("Could not read referee message ", err);
+					log.error("Could not read referee message", err);
+				}
 			}
 		}
 

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

@@ -123,6 +123,8 @@ public class WorldInfoCollector extends AWorldPredictor
 	static
 	{
 		ConfigRegistration.registerClass("wp", WorldInfoCollector.class);
+		String env = SumatraModel.getInstance().getEnvironment();
+		ConfigRegistration.applySpezi("wp", env);
 		ConfigRegistration.registerConfigurableCallback("wp", new IConfigObserver()
 		{
 			@Override