Resolve "Goal detection during penalty kick does not work"

Closes #1689

See merge request main/Sumatra!1454

sumatra-commit: c2fcc89547446cbb7adfaa4e649a1d0e15d99927

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

 /*
- * Copyright (c) 2009 - 2020, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
  */
 
 package edu.tigers.autoreferee.engine.detector;
 
-import java.util.EnumMap;
-import java.util.Map;
-import java.util.Optional;
-
-import org.apache.logging.log4j.LogManager;
-import org.apache.logging.log4j.Logger;
-
 import edu.tigers.sumatra.geometry.Geometry;
 import edu.tigers.sumatra.ids.AObjectID;
 import edu.tigers.sumatra.ids.BotID;
@@ -22,6 +15,13 @@ import edu.tigers.sumatra.referee.gameevent.PossibleGoal;
 import edu.tigers.sumatra.vision.data.IKickEvent;
 import edu.tigers.sumatra.wp.data.BallLeftFieldPosition;
 import edu.tigers.sumatra.wp.data.TimedPosition;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+
+import java.util.EnumMap;
+import java.util.Map;
+import java.util.Optional;
+import java.util.Set;
 
 
 /**
@@ -37,7 +37,7 @@ public class GoalDetector extends AGameEventDetector
 
 	public GoalDetector()
 	{
-		super(EGameEventDetectorType.GOAL, EGameState.RUNNING);
+		super(EGameEventDetectorType.GOAL, Set.of(EGameState.RUNNING, EGameState.PENALTY));
 		lastTouchedMap.put(ETeamColor.BLUE, 0L);
 		lastTouchedMap.put(ETeamColor.YELLOW, 0L);
 		maxBallHeightMap.put(ETeamColor.BLUE, 0.0);
@@ -94,7 +94,7 @@ public class GoalDetector extends AGameEventDetector
 
 	private void warnIfNoKickEventPresent()
 	{
-		if (!frame.getWorldFrame().getKickEvent().isPresent())
+		if (frame.getWorldFrame().getKickEvent().isEmpty())
 		{
 			log.warn("Goal detected, but no kick event found.");
 		}

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

 /*
- * Copyright (c) 2009 - 2020, DHBW Mannheim - TIGERs Mannheim
+ * Copyright (c) 2009 - 2021, DHBW Mannheim - TIGERs Mannheim
  */
 
 package edu.tigers.autoreferee.engine.detector;
 
 import edu.tigers.autoreferee.generic.BotPosition;
 import edu.tigers.sumatra.ids.ETeamColor;
+import edu.tigers.sumatra.math.AngleMath;
 import edu.tigers.sumatra.math.vector.IVector2;
 import edu.tigers.sumatra.referee.data.EGameState;
 import edu.tigers.sumatra.referee.gameevent.IGameEvent;
@@ -17,12 +18,10 @@ import java.util.Optional;
 
 public class PenaltyKickFailedDetector extends AGameEventDetector
 {
-
 	public PenaltyKickFailedDetector()
 	{
-
 		super(EGameEventDetectorType.PENALTY_KICK_FAILED, EGameState.PENALTY);
-
+		setDeactivateOnFirstGameEvent(true);
 	}
 
 
@@ -30,12 +29,10 @@ public class PenaltyKickFailedDetector extends AGameEventDetector
 	public Optional<IGameEvent> doUpdate()
 	{
 		Optional<Double> angle = frame.getWorldFrame().getBall().getVel()
-				.angleTo(frame.getPreviousFrame().getWorldFrame().getBall().getVel());
+				.angleToAbs(frame.getPreviousFrame().getWorldFrame().getBall().getVel());
 
-		if (angle.isPresent() && Math.abs(angle.get()) >= Math.PI * 0.5)
+		if (frame.isBallInsideField() && angle.isPresent() && angle.get() >= AngleMath.DEG_090_IN_RAD)
 		{
-			boolean failed = false;
-
 			List<BotPosition> lastBots = frame.getBotsLastTouchedBall();
 
 			ETeamColor attackingTeam = frame.getGameState().getForTeam();
@@ -45,16 +42,10 @@ public class PenaltyKickFailedDetector extends AGameEventDetector
 			{
 				if (bot.getBotID().getTeamColor() == defendingTeam)
 				{
-					failed = true;
-					break;
+					IVector2 pos = frame.getWorldFrame().getBall().getPos();
+					return Optional.of(new PenaltyKickFailed(attackingTeam, pos));
 				}
 			}
-
-			if (failed && frame.isBallInsideField())
-			{
-				IVector2 pos = frame.getWorldFrame().getBall().getPos();
-				return Optional.of(new PenaltyKickFailed(attackingTeam, pos));
-			}
 		}
 
 		return Optional.empty();

modules/moduli-referee/build.gradle

@@ -42,5 +42,5 @@ dependencies {
     testImplementation 'junit:junit:4.13.2'
     testImplementation 'org.assertj:assertj-core:3.19.0'
 
-    runtimeOnly "com.github.TIGERs-Mannheim:ssl-game-controller-maven:2.12.7.0:${osClassifier}"
+    runtimeOnly "com.github.TIGERs-Mannheim:ssl-game-controller-maven:2.12.8.1:${osClassifier}"
 }