From bb7b1f5ca638406b32f609a54e7994c657454f70 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 23 Apr 2025 16:09:15 +0200
Subject: [PATCH 01/46] Added ball communication (global and local coordinates
 still need to be fixed)

---
 crates/bifrost/src/serialization/codec.rs     | 38 ++++++++
 crates/bifrost/src/serialization/nalgebra.rs  | 33 ++++++-
 yggdrasil/src/behavior/roles/striker.rs       |  7 +-
 yggdrasil/src/communication/team.rs           |  2 +
 .../vision/ball_detection/communication.rs    | 87 +++++++++++++++++++
 yggdrasil/src/vision/ball_detection/mod.rs    |  5 ++
 6 files changed, 168 insertions(+), 4 deletions(-)
 create mode 100644 yggdrasil/src/vision/ball_detection/communication.rs

diff --git a/crates/bifrost/src/serialization/codec.rs b/crates/bifrost/src/serialization/codec.rs
index 6c29df7c7..efda7ea21 100644
--- a/crates/bifrost/src/serialization/codec.rs
+++ b/crates/bifrost/src/serialization/codec.rs
@@ -404,6 +404,44 @@ where
     }
 }
 
+impl<T> Encode for Option<T>
+where
+    T: Encode,
+{
+    fn encode(&self, mut write: impl Write) -> Result<()> {
+        match self {
+            Some(inner) => {
+                write.write_u8(1)?;
+                inner.encode(write)
+            },
+            None => Ok(write.write_u8(0)?),
+        }
+    }
+
+    fn encode_len(&self) -> usize {
+        match self {
+            Some(inner) => inner.encode_len() + 1,
+            None => 1,
+        }
+    }
+}
+
+impl<T> Decode for Option<T>
+where
+    T: Decode
+{
+    fn decode(mut read: impl Read) -> Result<Self>
+    where
+        Self: Sized,
+    {
+        match read.read_u8()? {
+            0 => Ok(None),
+            1 => Ok(Some(T::decode(read)?)),
+            n => Err(Error::InvalidVariantDiscriminant(n as usize, "Option")),
+        }
+    }
+}
+
 impl<T> Encode for Vec<T>
 where
     T: Encode,
diff --git a/crates/bifrost/src/serialization/nalgebra.rs b/crates/bifrost/src/serialization/nalgebra.rs
index d49cf3ec4..d785004bd 100644
--- a/crates/bifrost/src/serialization/nalgebra.rs
+++ b/crates/bifrost/src/serialization/nalgebra.rs
@@ -2,7 +2,8 @@
 
 use std::io::{Read, Write};
 
-use nalgebra::{Dim, Matrix, Scalar, Storage, StorageMut};
+use nalgebra::{Dim, Matrix, Scalar, Storage, StorageMut, 
+    allocator::Allocator, base::default_allocator::DefaultAllocator, DinName, OPoint};
 
 use super::{Decode, Encode};
 
@@ -56,6 +57,36 @@ where
     }
 }
 
+impl<T, D> Encode for OPoint<T, D>
+where
+    T: Scalar + Encode,
+    D: DimName,
+    DefaultAllocator: Allocator<D>,
+{
+    fn encode(&self, mut write: impl Write) -> Result<()> {
+        self.coords.encode(&mut write)
+    }
+
+    fn encode_len(&self) -> usize {
+        self.coords.encode_len()
+    }
+}
+
+impl<T, D> Decode for OPoint<T, D>
+where
+    T: Scalar + Decode,
+    D: DimName,
+    DefaultAllocator: Allocator<D>,
+    <DefaultAllocator as Allocator<D>>::Buffer<T>: Default,
+{
+    fn decode(mut read: impl Read) -> Result<Self>
+    where
+        Self: Sized,
+    {
+        Ok(Matrix::into(Matrix::decode(&mut read)?))
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;
diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 1a20f6336..7c5ea28f8 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -11,7 +11,7 @@ use crate::{
     localization::RobotPose,
     motion::walking_engine::step::Step,
     nao::{NaoManager, Priority},
-    vision::ball_detection::ball_tracker::BallTracker,
+    vision::ball_detection::TeamBallPosition,
 };
 
 const WALK_WITH_BALL_ANGLE: f32 = 0.3;
@@ -38,10 +38,11 @@ pub fn striker_role(
     mut commands: Commands,
     pose: Res<RobotPose>,
     layout_config: Res<LayoutConfig>,
-    ball_tracker: Res<BallTracker>,
+    team_ball_position: Res<TeamBallPosition>,
     mut nao_manager: ResMut<NaoManager>,
+    mut state: ResMut<Striker>,
 ) {
-    let Some(relative_ball) = ball_tracker.stationary_ball() else {
+    let Some(relative_ball) = team_ball_position.0 else {
         commands.set_behavior(RlStrikerSearchBehavior);
         return;
     };
diff --git a/yggdrasil/src/communication/team.rs b/yggdrasil/src/communication/team.rs
index a08b7ec7f..a866d03c3 100644
--- a/yggdrasil/src/communication/team.rs
+++ b/yggdrasil/src/communication/team.rs
@@ -4,6 +4,7 @@ use std::time::Duration;
 
 use bevy::prelude::{App, *};
 use miette::IntoDiagnostic;
+use nalgebra as na;
 
 use crate::core::config::showtime::ShowtimeConfig;
 use crate::prelude::*;
@@ -188,6 +189,7 @@ pub enum TeamMessage {
     Ping,
     Pong,
     DetectedWhistle,
+    DetectedBall(Option<na::Point2<f32>>),
     RecognizedRefereePose(RefereePose),
 }
 
diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
new file mode 100644
index 000000000..3365997fc
--- /dev/null
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -0,0 +1,87 @@
+use bevy::prelude::*;
+use nalgebra::{self as na, Point2};
+
+use crate::communication::{TeamCommunication, TeamMessage};
+
+// Import camera proposals
+use super::{ball_tracker::BallTracker, Hypothesis};
+
+// Constant for the minimum acceptable change
+const MIN_CHANGE: f32 = 0.1;
+
+pub struct CommunicatedBallsPlugin;
+
+impl Plugin for CommunicatedBallsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<TeamBallPosition>()
+            .init_resource::<CommunicatedBalls>()
+            .add_systems(Update, communicate_balls_system);
+    }
+}
+
+#[derive(Resource, Default, Debug)]
+pub struct TeamBallPosition(pub Option<Point2<f32>>);
+
+#[derive(Resource, Debug, Default)]
+pub struct CommunicatedBalls {
+    /// For keeping track what position we've sent out.
+    sent: Option<na::Point2<f32>>,
+}
+
+impl CommunicatedBalls {
+    /// Check it the position has changed enough from last frame.
+    fn change_enough(&mut self, ball: &Option<na::Point2<f32>>) -> bool {
+        match (ball, &self.sent) {
+            (None, None) => false,
+            (None, Some(_)) => true,
+            (Some(_), None) => true,
+            (Some(old), Some(new)) => na::distance(old, new) > MIN_CHANGE,
+        }
+    }
+
+    /// Send your ball position (even if it's None) as a message.
+    fn send_message(&mut self, ball_position: Option<na::Point2<f32>>, tc: &mut TeamCommunication) {
+        tc.outbound_mut()
+            .update_or_push(TeamMessage::DetectedBall(ball_position))
+            .expect("Unable to encode detected ball");
+        self.sent = ball_position;
+    }
+
+    /// Receive messages.
+    // 2.A.a. If no other robot are detecting a ball, we return the same None we had
+    // 2.A.b. If there are other robots detecting a ball, we take one from theirs as our own.
+    fn receive_messages(comms: &mut TeamCommunication) -> Option<na::Point2<f32>> {
+        let mut received_ball = None;
+
+        while let Some((_, _, ball)) = comms.inbound_mut().take_map(|_, _, what| match what {
+            TeamMessage::DetectedBall(ball) => Some(*ball),
+            _ => None,
+        }) {
+            received_ball = received_ball.or(ball);
+        }
+
+        received_ball
+    }
+}
+
+fn communicate_balls_system(
+    mut communicated_balls: ResMut<CommunicatedBalls>,
+    mut tc: ResMut<TeamCommunication>,
+    ball_tracker: Res<BallTracker>,
+    mut team_ball_position: ResMut<TeamBallPosition>,
+) {
+    let optional_ball_position = if let Hypothesis::Stationary(_) = ball_tracker.cutoff() {
+        Some(ball_tracker.state().0)
+    } else {
+        None
+    };
+
+    // 1. Check if it has changed enough and if so, we send a message.
+    // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
+    if communicated_balls.change_enough(&optional_ball_position) {
+        communicated_balls.send_message(optional_ball_position, &mut tc)
+    }
+
+    team_ball_position.0 =
+        optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc));
+}
\ No newline at end of file
diff --git a/yggdrasil/src/vision/ball_detection/mod.rs b/yggdrasil/src/vision/ball_detection/mod.rs
index c038731f8..ef389338a 100644
--- a/yggdrasil/src/vision/ball_detection/mod.rs
+++ b/yggdrasil/src/vision/ball_detection/mod.rs
@@ -2,6 +2,7 @@
 
 pub mod ball_tracker;
 pub mod classifier;
+mod communication;
 pub mod proposal;
 
 use std::{sync::Arc, time::Duration};
@@ -9,6 +10,8 @@ use std::{sync::Arc, time::Duration};
 pub use ball_tracker::BallHypothesis;
 use ball_tracker::BallTracker;
 use bevy::prelude::*;
+use communication::CommunicatedBallsPlugin;
+pub use communication::TeamBallPosition;
 use heimdall::{Bottom, CameraLocation, Top};
 use nidhogg::types::{FillExt, LeftEye, color};
 use proposal::BallProposalConfigs;
@@ -31,6 +34,7 @@ pub struct BallDetectionPlugin;
 
 impl Plugin for BallDetectionPlugin {
     fn build(&self, app: &mut App) {
+        app.add_plugins(CommunicatedBallsPlugin);
         app.init_config::<BallDetectionConfig>();
         app.add_plugins((
             proposal::BallProposalPlugin::<Top>::default(),
@@ -144,6 +148,7 @@ fn log_3d_balls(
 
     if let BallHypothesis::Stationary(max_variance) = state {
         let pos = robot_pose.robot_to_world(&ball_tracker.state());
+        
         if last_logged.is_none_or(|last_logged_cycle| last_ball_tracker_update > last_logged_cycle)
         {
             *last_logged = Some(last_ball_tracker_update);

From 06d696c3412f127d23c8d04ef2790333451f2122 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 23 Apr 2025 16:50:30 +0200
Subject: [PATCH 02/46] Transformation local<->global coordinates added

---
 .../src/vision/ball_detection/communication.rs | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 3365997fc..8a05aca73 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -50,7 +50,7 @@ impl CommunicatedBalls {
     /// Receive messages.
     // 2.A.a. If no other robot are detecting a ball, we return the same None we had
     // 2.A.b. If there are other robots detecting a ball, we take one from theirs as our own.
-    fn receive_messages(comms: &mut TeamCommunication) -> Option<na::Point2<f32>> {
+    fn receive_messages(comms: &mut TeamCommunication,  pose: &RobotPose) -> Option<na::Point2<f32>> {
         let mut received_ball = None;
 
         while let Some((_, _, ball)) = comms.inbound_mut().take_map(|_, _, what| match what {
@@ -59,8 +59,8 @@ impl CommunicatedBalls {
         }) {
             received_ball = received_ball.or(ball);
         }
-
-        received_ball
+    // If we received a ball, transform it from world coordinates to robot coordinates
+    received_ball.map(|ball| pose.world_to_robot(&ball))
     }
 }
 
@@ -68,7 +68,8 @@ fn communicate_balls_system(
     mut communicated_balls: ResMut<CommunicatedBalls>,
     mut tc: ResMut<TeamCommunication>,
     ball_tracker: Res<BallTracker>,
-    mut team_ball_position: ResMut<TeamBallPosition>,
+    mut team_ball_position: ResMut<TeamBallPosition>,    
+    pose: Res<RobotPose>,
 ) {
     let optional_ball_position = if let Hypothesis::Stationary(_) = ball_tracker.cutoff() {
         Some(ball_tracker.state().0)
@@ -79,9 +80,14 @@ fn communicate_balls_system(
     // 1. Check if it has changed enough and if so, we send a message.
     // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
     if communicated_balls.change_enough(&optional_ball_position) {
-        communicated_balls.send_message(optional_ball_position, &mut tc)
+        if let Some(local_ball_pos) = optional_ball_position {
+            let transformed_position = optional_ball_position.map(|pos| pose.robot_to_world(&pos));
+            communicated_balls.send_message(transformed_position, &mut tc)
+        } else {
+            communicated_balls.send_message(None, &mut tc); // optional_ball_position = None in this case
+        }
     }
 
     team_ball_position.0 =
-        optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc));
+        optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc, &pose));
 }
\ No newline at end of file

From 577b56c04c9292e7e0256455dc68d3ecfbfd03b3 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 23 Apr 2025 17:17:08 +0200
Subject: [PATCH 03/46] Typo fixed

---
 crates/bifrost/src/serialization/nalgebra.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bifrost/src/serialization/nalgebra.rs b/crates/bifrost/src/serialization/nalgebra.rs
index d785004bd..2bc565cb6 100644
--- a/crates/bifrost/src/serialization/nalgebra.rs
+++ b/crates/bifrost/src/serialization/nalgebra.rs
@@ -3,7 +3,7 @@
 use std::io::{Read, Write};
 
 use nalgebra::{Dim, Matrix, Scalar, Storage, StorageMut, 
-    allocator::Allocator, base::default_allocator::DefaultAllocator, DinName, OPoint};
+    allocator::Allocator, base::default_allocator::DefaultAllocator, DimName, OPoint};
 
 use super::{Decode, Encode};
 

From 89037d85cbad241eafdf00b192b816324e931b34 Mon Sep 17 00:00:00 2001
From: Julia Blaauboer <j.s.blaauboer@gmail.com>
Date: Wed, 23 Apr 2025 17:20:25 +0200
Subject: [PATCH 04/46] fromat

---
 crates/bifrost/src/serialization/codec.rs         |  4 ++--
 crates/bifrost/src/serialization/nalgebra.rs      |  6 ++++--
 .../src/vision/ball_detection/communication.rs    | 15 +++++++++------
 yggdrasil/src/vision/ball_detection/mod.rs        |  2 +-
 4 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/crates/bifrost/src/serialization/codec.rs b/crates/bifrost/src/serialization/codec.rs
index efda7ea21..0692b2c5e 100644
--- a/crates/bifrost/src/serialization/codec.rs
+++ b/crates/bifrost/src/serialization/codec.rs
@@ -413,7 +413,7 @@ where
             Some(inner) => {
                 write.write_u8(1)?;
                 inner.encode(write)
-            },
+            }
             None => Ok(write.write_u8(0)?),
         }
     }
@@ -428,7 +428,7 @@ where
 
 impl<T> Decode for Option<T>
 where
-    T: Decode
+    T: Decode,
 {
     fn decode(mut read: impl Read) -> Result<Self>
     where
diff --git a/crates/bifrost/src/serialization/nalgebra.rs b/crates/bifrost/src/serialization/nalgebra.rs
index 2bc565cb6..497d1f156 100644
--- a/crates/bifrost/src/serialization/nalgebra.rs
+++ b/crates/bifrost/src/serialization/nalgebra.rs
@@ -2,8 +2,10 @@
 
 use std::io::{Read, Write};
 
-use nalgebra::{Dim, Matrix, Scalar, Storage, StorageMut, 
-    allocator::Allocator, base::default_allocator::DefaultAllocator, DimName, OPoint};
+use nalgebra::{
+    Dim, DimName, Matrix, OPoint, Scalar, Storage, StorageMut, allocator::Allocator,
+    base::default_allocator::DefaultAllocator,
+};
 
 use super::{Decode, Encode};
 
diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 8a05aca73..2d35dc66d 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -4,7 +4,7 @@ use nalgebra::{self as na, Point2};
 use crate::communication::{TeamCommunication, TeamMessage};
 
 // Import camera proposals
-use super::{ball_tracker::BallTracker, Hypothesis};
+use super::{Hypothesis, ball_tracker::BallTracker};
 
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
@@ -50,7 +50,10 @@ impl CommunicatedBalls {
     /// Receive messages.
     // 2.A.a. If no other robot are detecting a ball, we return the same None we had
     // 2.A.b. If there are other robots detecting a ball, we take one from theirs as our own.
-    fn receive_messages(comms: &mut TeamCommunication,  pose: &RobotPose) -> Option<na::Point2<f32>> {
+    fn receive_messages(
+        comms: &mut TeamCommunication,
+        pose: &RobotPose,
+    ) -> Option<na::Point2<f32>> {
         let mut received_ball = None;
 
         while let Some((_, _, ball)) = comms.inbound_mut().take_map(|_, _, what| match what {
@@ -59,8 +62,8 @@ impl CommunicatedBalls {
         }) {
             received_ball = received_ball.or(ball);
         }
-    // If we received a ball, transform it from world coordinates to robot coordinates
-    received_ball.map(|ball| pose.world_to_robot(&ball))
+        // If we received a ball, transform it from world coordinates to robot coordinates
+        received_ball.map(|ball| pose.world_to_robot(&ball))
     }
 }
 
@@ -68,7 +71,7 @@ fn communicate_balls_system(
     mut communicated_balls: ResMut<CommunicatedBalls>,
     mut tc: ResMut<TeamCommunication>,
     ball_tracker: Res<BallTracker>,
-    mut team_ball_position: ResMut<TeamBallPosition>,    
+    mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
 ) {
     let optional_ball_position = if let Hypothesis::Stationary(_) = ball_tracker.cutoff() {
@@ -90,4 +93,4 @@ fn communicate_balls_system(
 
     team_ball_position.0 =
         optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc, &pose));
-}
\ No newline at end of file
+}
diff --git a/yggdrasil/src/vision/ball_detection/mod.rs b/yggdrasil/src/vision/ball_detection/mod.rs
index ef389338a..a68568dd2 100644
--- a/yggdrasil/src/vision/ball_detection/mod.rs
+++ b/yggdrasil/src/vision/ball_detection/mod.rs
@@ -148,7 +148,7 @@ fn log_3d_balls(
 
     if let BallHypothesis::Stationary(max_variance) = state {
         let pos = robot_pose.robot_to_world(&ball_tracker.state());
-        
+
         if last_logged.is_none_or(|last_logged_cycle| last_ball_tracker_update > last_logged_cycle)
         {
             *last_logged = Some(last_ball_tracker_update);

From 9bc628aae10b508b703fe7d7874da846cbe3325f Mon Sep 17 00:00:00 2001
From: Julia Blaauboer <j.s.blaauboer@gmail.com>
Date: Wed, 23 Apr 2025 17:33:05 +0200
Subject: [PATCH 05/46] should be fine eh

---
 yggdrasil/src/behavior/roles/striker.rs              | 1 -
 yggdrasil/src/vision/ball_detection/communication.rs | 9 ++++++---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 7c5ea28f8..2cf770bfd 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -40,7 +40,6 @@ pub fn striker_role(
     layout_config: Res<LayoutConfig>,
     team_ball_position: Res<TeamBallPosition>,
     mut nao_manager: ResMut<NaoManager>,
-    mut state: ResMut<Striker>,
 ) {
     let Some(relative_ball) = team_ball_position.0 else {
         commands.set_behavior(RlStrikerSearchBehavior);
diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 2d35dc66d..98d290d51 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -1,10 +1,13 @@
 use bevy::prelude::*;
 use nalgebra::{self as na, Point2};
 
-use crate::communication::{TeamCommunication, TeamMessage};
+use crate::{
+    communication::{TeamCommunication, TeamMessage},
+    localization::RobotPose,
+};
 
 // Import camera proposals
-use super::{Hypothesis, ball_tracker::BallTracker};
+use super::ball_tracker::{BallHypothesis, BallTracker};
 
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
@@ -74,7 +77,7 @@ fn communicate_balls_system(
     mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
 ) {
-    let optional_ball_position = if let Hypothesis::Stationary(_) = ball_tracker.cutoff() {
+    let optional_ball_position = if let BallHypothesis::Stationary(_) = ball_tracker.cutoff() {
         Some(ball_tracker.state().0)
     } else {
         None

From b32b8d4a40995bba53ea38161d500e097dd94afa Mon Sep 17 00:00:00 2001
From: Julia Blaauboer <j.s.blaauboer@gmail.com>
Date: Wed, 23 Apr 2025 17:38:40 +0200
Subject: [PATCH 06/46] shut up clippy

---
 yggdrasil/src/vision/ball_detection/communication.rs | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 98d290d51..174ad1aba 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -86,12 +86,8 @@ fn communicate_balls_system(
     // 1. Check if it has changed enough and if so, we send a message.
     // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
     if communicated_balls.change_enough(&optional_ball_position) {
-        if let Some(local_ball_pos) = optional_ball_position {
-            let transformed_position = optional_ball_position.map(|pos| pose.robot_to_world(&pos));
-            communicated_balls.send_message(transformed_position, &mut tc)
-        } else {
-            communicated_balls.send_message(None, &mut tc); // optional_ball_position = None in this case
-        }
+        let transformed_position = optional_ball_position.map(|pos| pose.robot_to_world(&pos));
+        communicated_balls.send_message(transformed_position, &mut tc);
     }
 
     team_ball_position.0 =

From 4720f6b01b26de90112feda37262e3a8e3ee732b Mon Sep 17 00:00:00 2001
From: Julia Blaauboer <j.s.blaauboer@gmail.com>
Date: Wed, 23 Apr 2025 17:44:12 +0200
Subject: [PATCH 07/46] weeeee

---
 yggdrasil/src/vision/ball_detection/communication.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 174ad1aba..ec0d65795 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -33,7 +33,7 @@ pub struct CommunicatedBalls {
 
 impl CommunicatedBalls {
     /// Check it the position has changed enough from last frame.
-    fn change_enough(&mut self, ball: &Option<na::Point2<f32>>) -> bool {
+    fn change_enough(&mut self, ball: Option<&na::Point2<f32>>) -> bool {
         match (ball, &self.sent) {
             (None, None) => false,
             (None, Some(_)) => true,
@@ -85,7 +85,7 @@ fn communicate_balls_system(
 
     // 1. Check if it has changed enough and if so, we send a message.
     // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
-    if communicated_balls.change_enough(&optional_ball_position) {
+    if communicated_balls.change_enough(optional_ball_position.as_ref()) {
         let transformed_position = optional_ball_position.map(|pos| pose.robot_to_world(&pos));
         communicated_balls.send_message(transformed_position, &mut tc);
     }

From 0ae3e2a2c1b2ba0c05cc5677ad7b1dd8184d5f7b Mon Sep 17 00:00:00 2001
From: Gijs de Jong <berichtaangijs@gmail.com>
Date: Wed, 23 Apr 2025 18:32:20 +0200
Subject: [PATCH 08/46] save ball position

---
 yggdrasil/src/behavior/roles/striker.rs            |  2 ++
 .../src/vision/ball_detection/communication.rs     | 14 +++++++-------
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 2cf770bfd..b0fea3849 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -46,6 +46,8 @@ pub fn striker_role(
         return;
     };
 
+    println!("we have a ball");
+
     let absolute_ball = pose.robot_to_world(&relative_ball);
     let ball_angle = pose.angle_to(&absolute_ball);
     let ball_distance = relative_ball.coords.norm();
diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index ec0d65795..76811878e 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -76,12 +76,9 @@ fn communicate_balls_system(
     ball_tracker: Res<BallTracker>,
     mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
+    mut last_received: Local<Option<Point2<f32>>>,
 ) {
-    let optional_ball_position = if let BallHypothesis::Stationary(_) = ball_tracker.cutoff() {
-        Some(ball_tracker.state().0)
-    } else {
-        None
-    };
+    let optional_ball_position = ball_tracker.stationary_ball();
 
     // 1. Check if it has changed enough and if so, we send a message.
     // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
@@ -90,6 +87,9 @@ fn communicate_balls_system(
         communicated_balls.send_message(transformed_position, &mut tc);
     }
 
-    team_ball_position.0 =
-        optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc, &pose));
+    if let Some(new_pos) = CommunicatedBalls::receive_messages(&mut tc, &pose) {
+        *last_received = Some(new_pos);
+    }
+
+    team_ball_position.0 = optional_ball_position.or_else(|| *last_received);
 }

From e8a337fabfdb48629e63aa70a8a3ca951574428f Mon Sep 17 00:00:00 2001
From: Gijs de Jong <berichtaangijs@gmail.com>
Date: Wed, 23 Apr 2025 18:44:31 +0200
Subject: [PATCH 09/46] stuff

---
 .../src/vision/ball_detection/communication.rs    | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 76811878e..ad84a5ce1 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -3,7 +3,9 @@ use nalgebra::{self as na, Point2};
 
 use crate::{
     communication::{TeamCommunication, TeamMessage},
+    core::debug::DebugContext,
     localization::RobotPose,
+    nao::Cycle,
 };
 
 // Import camera proposals
@@ -77,6 +79,8 @@ fn communicate_balls_system(
     mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
     mut last_received: Local<Option<Point2<f32>>>,
+    ctx: DebugContext,
+    cycle: Res<Cycle>,
 ) {
     let optional_ball_position = ball_tracker.stationary_ball();
 
@@ -92,4 +96,15 @@ fn communicate_balls_system(
     }
 
     team_ball_position.0 = optional_ball_position.or_else(|| *last_received);
+
+    if let Some(pos) = team_ball_position.0 {
+        let global = pose.robot_to_world(&pos);
+        ctx.log_with_cycle(
+            "/team_ball",
+            *cycle,
+            &rerun::Points3D::new([(global.x, global.y, 0.01)])
+                .with_radii([0.1])
+                .with_labels(["team_ball"]),
+        );
+    }
 }

From 3bff0f8dc146c82bf63d4a1144d8adee3369e79a Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Mon, 19 May 2025 22:57:03 +0200
Subject: [PATCH 10/46] fixing clippy

---
 yggdrasil/src/vision/ball_detection/communication.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index ad84a5ce1..f93cb0d23 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -9,7 +9,7 @@ use crate::{
 };
 
 // Import camera proposals
-use super::ball_tracker::{BallHypothesis, BallTracker};
+use super::ball_tracker::{BallTracker};
 
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;

From 612106b82136eeaaad8acf140be25a0c2e7ff704 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Mon, 19 May 2025 23:08:00 +0200
Subject: [PATCH 11/46] merging conflict

---
 yggdrasil/src/communication/team.rs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/yggdrasil/src/communication/team.rs b/yggdrasil/src/communication/team.rs
index a866d03c3..0b2c977fb 100644
--- a/yggdrasil/src/communication/team.rs
+++ b/yggdrasil/src/communication/team.rs
@@ -5,6 +5,7 @@ use std::time::Duration;
 use bevy::prelude::{App, *};
 use miette::IntoDiagnostic;
 use nalgebra as na;
+use tracing::{debug, warn};
 
 use crate::core::config::showtime::ShowtimeConfig;
 use crate::prelude::*;

From 460e64e5170d12346150651f9a3ba6b30ea284c2 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Mon, 19 May 2025 23:17:23 +0200
Subject: [PATCH 12/46] clippy me this one

---
 yggdrasil/src/vision/ball_detection/communication.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index f93cb0d23..cd3b75482 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -9,7 +9,7 @@ use crate::{
 };
 
 // Import camera proposals
-use super::ball_tracker::{BallTracker};
+use super::ball_tracker::BallTracker;
 
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
@@ -72,6 +72,7 @@ impl CommunicatedBalls {
     }
 }
 
+#[allow(clippy::too_many_arguments)]
 fn communicate_balls_system(
     mut communicated_balls: ResMut<CommunicatedBalls>,
     mut tc: ResMut<TeamCommunication>,

From 089fcd6c498f0ca540c081061eb773db259eed2a Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 21 May 2025 12:32:27 +0200
Subject: [PATCH 13/46] Removed print check

---
 yggdrasil/src/behavior/roles/striker.rs | 1 -
 1 file changed, 1 deletion(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index b0fea3849..a9de758f2 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -46,7 +46,6 @@ pub fn striker_role(
         return;
     };
 
-    println!("we have a ball");
 
     let absolute_ball = pose.robot_to_world(&relative_ball);
     let ball_angle = pose.angle_to(&absolute_ball);

From 327454c1c9cb218138e91f9eb743d81e82838b4e Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 21 May 2025 13:36:01 +0200
Subject: [PATCH 14/46] cargo fmt doesnt forgive

---
 yggdrasil/src/behavior/roles/striker.rs | 1 -
 1 file changed, 1 deletion(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index a9de758f2..2cf770bfd 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -46,7 +46,6 @@ pub fn striker_role(
         return;
     };
 
-
     let absolute_ball = pose.robot_to_world(&relative_ball);
     let ball_angle = pose.angle_to(&absolute_ball);
     let ball_distance = relative_ball.coords.norm();

From 41e33b62c2cc38a525cadacf5e7b6c6d3d40fe67 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Thu, 17 Jul 2025 20:50:44 +0200
Subject: [PATCH 15/46] timeout team ball after constant amount of cycles
 without communicated ball

---
 .../vision/ball_detection/communication.rs    | 35 +++++++++++++++++--
 1 file changed, 32 insertions(+), 3 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index cd3b75482..4f868a4b5 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -14,12 +14,22 @@ use super::ball_tracker::BallTracker;
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
 
+// constant for last received team ball position
+const LAST_RECEIVED: usize = 500;
+
 pub struct CommunicatedBallsPlugin;
 
+#[derive(Resource, Default, Debug)]
+pub struct LastReceivedBall{
+    pub position: Option<Point2<f32>>,
+    pub cycles_since_last_received: usize,
+}
+
 impl Plugin for CommunicatedBallsPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<TeamBallPosition>()
             .init_resource::<CommunicatedBalls>()
+            .init_resource::<LastReceivedBall>()
             .add_systems(Update, communicate_balls_system);
     }
 }
@@ -79,7 +89,7 @@ fn communicate_balls_system(
     ball_tracker: Res<BallTracker>,
     mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
-    mut last_received: Local<Option<Point2<f32>>>,
+    mut last_received: ResMut<LastReceivedBall>,
     ctx: DebugContext,
     cycle: Res<Cycle>,
 ) {
@@ -93,10 +103,23 @@ fn communicate_balls_system(
     }
 
     if let Some(new_pos) = CommunicatedBalls::receive_messages(&mut tc, &pose) {
-        *last_received = Some(new_pos);
+        println!("Received new ball position: {:?}", new_pos);
+        last_received.position = Some(new_pos);
+    } else {
+        last_received.cycles_since_last_received += 1;
+        println!(
+            "No team ball position received for {} cycles",
+            last_received.cycles_since_last_received
+        );
+        if last_received.cycles_since_last_received > LAST_RECEIVED {
+            last_received.position = None;
+            last_received.cycles_since_last_received = 0;
+        }
     }
 
-    team_ball_position.0 = optional_ball_position.or_else(|| *last_received);
+    team_ball_position.0 = optional_ball_position.or_else(|| last_received.position);
+    println!("last received position: {:?}", last_received.position);
+    println!("team ball position: {:?}", team_ball_position.0);
 
     if let Some(pos) = team_ball_position.0 {
         let global = pose.robot_to_world(&pos);
@@ -107,5 +130,11 @@ fn communicate_balls_system(
                 .with_radii([0.1])
                 .with_labels(["team_ball"]),
         );
+    } else {
+        ctx.log_with_cycle(
+            "/team_ball",
+            *cycle,
+            &rerun::Clear::recursive(),
+        );
     }
 }

From b529862b2a2faf313f2637338142dbb03e62e59c Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:23:45 +0200
Subject: [PATCH 16/46] formatting

---
 yggdrasil/src/vision/ball_detection/communication.rs | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 4f868a4b5..8fa5e7015 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -20,7 +20,7 @@ const LAST_RECEIVED: usize = 500;
 pub struct CommunicatedBallsPlugin;
 
 #[derive(Resource, Default, Debug)]
-pub struct LastReceivedBall{
+pub struct LastReceivedBall {
     pub position: Option<Point2<f32>>,
     pub cycles_since_last_received: usize,
 }
@@ -131,10 +131,6 @@ fn communicate_balls_system(
                 .with_labels(["team_ball"]),
         );
     } else {
-        ctx.log_with_cycle(
-            "/team_ball",
-            *cycle,
-            &rerun::Clear::recursive(),
-        );
+        ctx.log_with_cycle("/team_ball", *cycle, &rerun::Clear::recursive());
     }
 }

From 44a12b6a730775be72b53e1c846c22def153878f Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:46:08 +0200
Subject: [PATCH 17/46] remove print statements

---
 yggdrasil/src/vision/ball_detection/communication.rs | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 8fa5e7015..cec9c476a 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -103,7 +103,6 @@ fn communicate_balls_system(
     }
 
     if let Some(new_pos) = CommunicatedBalls::receive_messages(&mut tc, &pose) {
-        println!("Received new ball position: {:?}", new_pos);
         last_received.position = Some(new_pos);
     } else {
         last_received.cycles_since_last_received += 1;
@@ -118,8 +117,6 @@ fn communicate_balls_system(
     }
 
     team_ball_position.0 = optional_ball_position.or_else(|| last_received.position);
-    println!("last received position: {:?}", last_received.position);
-    println!("team ball position: {:?}", team_ball_position.0);
 
     if let Some(pos) = team_ball_position.0 {
         let global = pose.robot_to_world(&pos);

From 9531ff971fee22bc5ca1b8d86bea447c6bb6a855 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:47:37 +0200
Subject: [PATCH 18/46] test balltracker crate addition

---
 yggdrasil/src/behavior/roles/striker.rs | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 9e980e53a..cff3ed44a 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -14,6 +14,8 @@ use crate::{
     vision::ball_detection::TeamBallPosition,
 };
 
+use crate::vision::ball_detection::ball_tracker::BallTracker;
+
 const WALK_WITH_BALL_ANGLE: f32 = 0.3;
 const ALIGN_WITH_BALL_DISTANCE: f32 = 0.3;
 

From 4e40ac81e589c98bc461e9d2815416cd24a7b4bd Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:53:06 +0200
Subject: [PATCH 19/46] remove  balltracker import

---
 yggdrasil/src/behavior/roles/striker.rs | 2 --
 1 file changed, 2 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index cff3ed44a..9e980e53a 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -14,8 +14,6 @@ use crate::{
     vision::ball_detection::TeamBallPosition,
 };
 
-use crate::vision::ball_detection::ball_tracker::BallTracker;
-
 const WALK_WITH_BALL_ANGLE: f32 = 0.3;
 const ALIGN_WITH_BALL_DISTANCE: f32 = 0.3;
 

From 0a2e8adbbd5af289e172cb3f6c47f12e4c6c5904 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:57:57 +0200
Subject: [PATCH 20/46] change team ball to detected ball in striker.rs

---
 yggdrasil/src/behavior/roles/striker.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 9e980e53a..3cdc9aea5 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -51,10 +51,10 @@ pub fn striker_role(
     mut commands: Commands,
     pose: Res<RobotPose>,
     layout_config: Res<LayoutConfig>,
-    team_ball_position: Res<TeamBallPosition>,
+    detected_ball_position: Res<TeamBallPosition>,
     mut nao_manager: ResMut<NaoManager>,
 ) {
-    let Some(relative_ball) = team_ball_position.0 else {
+    let Some(relative_ball) = detected_ball_position.0 else {
         nao_manager.set_right_eye_led(RightEye::fill(color::f32::GREEN), Priority::default());
         commands.set_behavior(RlStrikerSearchBehavior);
         return;

From 0ca9331bc6f1e7edaf71936825f41df4b5623ad5 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 13:23:33 +0200
Subject: [PATCH 21/46] fix striker.rs not being merged with main

---
 yggdrasil/src/behavior/roles/striker.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 9f485748d..8fc3c5210 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -157,12 +157,12 @@ pub fn striker_role(
 //TODO: Make this a separate stand-alone behavior
 fn set_play(
     mut commands: Commands,
-    ball_tracker: Res<BallTracker>,
+    detected_ball_position: Res<TeamBallPosition>,
     pose: Res<RobotPose>,
     behavior_state: Res<State<BehaviorState>>,
     walk: Option<Res<Walk>>,
 ) {
-    let Some(relative_ball) = ball_tracker.stationary_ball() else {
+    let Some(relative_ball) = detected_ball_position.0 else {
         return;
     };
     let absolute_ball = pose.robot_to_world(&relative_ball);

From 51712e67ece880d7fd9705bd24594800c9608d53 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 18:11:38 +0200
Subject: [PATCH 22/46] remove cycle time thresholding on communicated ball
 message age

---
 .../src/vision/ball_detection/communication.rs     | 14 +-------------
 1 file changed, 1 insertion(+), 13 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index cec9c476a..1ea8f3155 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -14,15 +14,11 @@ use super::ball_tracker::BallTracker;
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
 
-// constant for last received team ball position
-const LAST_RECEIVED: usize = 500;
-
 pub struct CommunicatedBallsPlugin;
 
 #[derive(Resource, Default, Debug)]
 pub struct LastReceivedBall {
     pub position: Option<Point2<f32>>,
-    pub cycles_since_last_received: usize,
 }
 
 impl Plugin for CommunicatedBallsPlugin {
@@ -105,15 +101,7 @@ fn communicate_balls_system(
     if let Some(new_pos) = CommunicatedBalls::receive_messages(&mut tc, &pose) {
         last_received.position = Some(new_pos);
     } else {
-        last_received.cycles_since_last_received += 1;
-        println!(
-            "No team ball position received for {} cycles",
-            last_received.cycles_since_last_received
-        );
-        if last_received.cycles_since_last_received > LAST_RECEIVED {
-            last_received.position = None;
-            last_received.cycles_since_last_received = 0;
-        }
+        last_received.position = None;
     }
 
     team_ball_position.0 = optional_ball_position.or_else(|| last_received.position);

From 0cf29bc0dcd93a490eb90eb15248bf7f3824cfc4 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Sat, 19 Jul 2025 01:57:04 +0200
Subject: [PATCH 23/46] fix imports

---
 yggdrasil/src/behavior/roles/striker.rs | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 1d6da65f7..dc67504ad 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -9,7 +9,7 @@ use crate::{
             LookMode, LostBallSearch, RlStrikerSearchBehavior, StandLookAt, Walk, WalkTo,
             WalkToBall,
         },
-        engine::{in_role, BehaviorState, CommandsBehaviorExt, RoleState, Roles},
+        engine::{BehaviorState, CommandsBehaviorExt, RoleState, Roles, in_role},
         primary_state::PrimaryState,
     },
     core::config::{
@@ -19,7 +19,7 @@ use crate::{
     localization::RobotPose,
     motion::{step_planner::Target, walking_engine::step::Step},
     nao::{NaoManager, Priority},
-    vision::ball_detection::{ball_tracker::BallTracker, TeamBallPosition},
+    vision::ball_detection::{TeamBallPosition, ball_tracker::BallTracker},
 };
 
 use std::time::Duration;
@@ -98,6 +98,7 @@ fn reset_striker_role(mut nao_manager: ResMut<NaoManager>) {
     nao_manager.set_right_eye_led(RightEye::fill(color::f32::EMPTY), Priority::default());
 }
 
+#[allow(clippy::too_many_arguments)]
 pub fn striker_role(
     mut commands: Commands,
     pose: Res<RobotPose>,
@@ -108,7 +109,6 @@ pub fn striker_role(
     lost_ball_timer: Option<ResMut<LostBallSearchTimer>>,
     time: Res<Time>,
 ) {
-        
     let Some(relative_ball) = detected_ball_position.0 else {
         if let Some(mut timer) = lost_ball_timer {
             timer.timer.tick(time.delta()); // <- tick the timer

From aabf91ff7db612a0ba1c667a013b1930c7ac41f1 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Sat, 19 Jul 2025 02:34:45 +0200
Subject: [PATCH 24/46] rebase

---
 crates/bifrost/src/serialization/codec.rs     | 38 ++++++++
 crates/bifrost/src/serialization/nalgebra.rs  | 33 ++++++-
 yggdrasil/src/behavior/roles/striker.rs       |  6 +-
 yggdrasil/src/communication/team.rs           |  2 +
 .../vision/ball_detection/communication.rs    | 87 +++++++++++++++++++
 yggdrasil/src/vision/ball_detection/mod.rs    |  5 ++
 6 files changed, 167 insertions(+), 4 deletions(-)
 create mode 100644 yggdrasil/src/vision/ball_detection/communication.rs

diff --git a/crates/bifrost/src/serialization/codec.rs b/crates/bifrost/src/serialization/codec.rs
index 6c29df7c7..efda7ea21 100644
--- a/crates/bifrost/src/serialization/codec.rs
+++ b/crates/bifrost/src/serialization/codec.rs
@@ -404,6 +404,44 @@ where
     }
 }
 
+impl<T> Encode for Option<T>
+where
+    T: Encode,
+{
+    fn encode(&self, mut write: impl Write) -> Result<()> {
+        match self {
+            Some(inner) => {
+                write.write_u8(1)?;
+                inner.encode(write)
+            },
+            None => Ok(write.write_u8(0)?),
+        }
+    }
+
+    fn encode_len(&self) -> usize {
+        match self {
+            Some(inner) => inner.encode_len() + 1,
+            None => 1,
+        }
+    }
+}
+
+impl<T> Decode for Option<T>
+where
+    T: Decode
+{
+    fn decode(mut read: impl Read) -> Result<Self>
+    where
+        Self: Sized,
+    {
+        match read.read_u8()? {
+            0 => Ok(None),
+            1 => Ok(Some(T::decode(read)?)),
+            n => Err(Error::InvalidVariantDiscriminant(n as usize, "Option")),
+        }
+    }
+}
+
 impl<T> Encode for Vec<T>
 where
     T: Encode,
diff --git a/crates/bifrost/src/serialization/nalgebra.rs b/crates/bifrost/src/serialization/nalgebra.rs
index d49cf3ec4..d785004bd 100644
--- a/crates/bifrost/src/serialization/nalgebra.rs
+++ b/crates/bifrost/src/serialization/nalgebra.rs
@@ -2,7 +2,8 @@
 
 use std::io::{Read, Write};
 
-use nalgebra::{Dim, Matrix, Scalar, Storage, StorageMut};
+use nalgebra::{Dim, Matrix, Scalar, Storage, StorageMut, 
+    allocator::Allocator, base::default_allocator::DefaultAllocator, DinName, OPoint};
 
 use super::{Decode, Encode};
 
@@ -56,6 +57,36 @@ where
     }
 }
 
+impl<T, D> Encode for OPoint<T, D>
+where
+    T: Scalar + Encode,
+    D: DimName,
+    DefaultAllocator: Allocator<D>,
+{
+    fn encode(&self, mut write: impl Write) -> Result<()> {
+        self.coords.encode(&mut write)
+    }
+
+    fn encode_len(&self) -> usize {
+        self.coords.encode_len()
+    }
+}
+
+impl<T, D> Decode for OPoint<T, D>
+where
+    T: Scalar + Decode,
+    D: DimName,
+    DefaultAllocator: Allocator<D>,
+    <DefaultAllocator as Allocator<D>>::Buffer<T>: Default,
+{
+    fn decode(mut read: impl Read) -> Result<Self>
+    where
+        Self: Sized,
+    {
+        Ok(Matrix::into(Matrix::decode(&mut read)?))
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;
diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index ec6e36df1..1ac3d20f9 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -19,7 +19,7 @@ use crate::{
     localization::RobotPose,
     motion::{step_planner::Target, walking_engine::step::Step},
     nao::{NaoManager, Priority},
-    vision::ball_detection::ball_tracker::BallTracker,
+    vision::ball_detection::TeamBallPosition,
 };
 
 use std::time::Duration;
@@ -102,12 +102,12 @@ pub fn striker_role(
     mut commands: Commands,
     pose: Res<RobotPose>,
     layout_config: Res<LayoutConfig>,
-    ball_tracker: Res<BallTracker>,
+    team_ball_position: Res<TeamBallPosition>,
     mut nao_manager: ResMut<NaoManager>,
     lost_ball_timer: Option<ResMut<LostBallSearchTimer>>,
     time: Res<Time>,
 ) {
-    let Some(relative_ball) = ball_tracker.stationary_ball() else {
+    let Some(relative_ball) = team_ball_position.0 else {
         if let Some(mut timer) = lost_ball_timer {
             timer.timer.tick(time.delta()); // <- tick the timer
 
diff --git a/yggdrasil/src/communication/team.rs b/yggdrasil/src/communication/team.rs
index 2a45ec876..7e7c5043d 100644
--- a/yggdrasil/src/communication/team.rs
+++ b/yggdrasil/src/communication/team.rs
@@ -5,6 +5,7 @@ use std::time::Duration;
 use bevy::prelude::{App, *};
 use miette::IntoDiagnostic;
 use tracing::{debug, warn};
+use nalgebra as na;
 
 use crate::core::config::showtime::ShowtimeConfig;
 use crate::prelude::Result;
@@ -189,6 +190,7 @@ pub enum TeamMessage {
     Ping,
     Pong,
     DetectedWhistle,
+    DetectedBall(Option<na::Point2<f32>>),
     RecognizedRefereePose(RefereePose),
 }
 
diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
new file mode 100644
index 000000000..3365997fc
--- /dev/null
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -0,0 +1,87 @@
+use bevy::prelude::*;
+use nalgebra::{self as na, Point2};
+
+use crate::communication::{TeamCommunication, TeamMessage};
+
+// Import camera proposals
+use super::{ball_tracker::BallTracker, Hypothesis};
+
+// Constant for the minimum acceptable change
+const MIN_CHANGE: f32 = 0.1;
+
+pub struct CommunicatedBallsPlugin;
+
+impl Plugin for CommunicatedBallsPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<TeamBallPosition>()
+            .init_resource::<CommunicatedBalls>()
+            .add_systems(Update, communicate_balls_system);
+    }
+}
+
+#[derive(Resource, Default, Debug)]
+pub struct TeamBallPosition(pub Option<Point2<f32>>);
+
+#[derive(Resource, Debug, Default)]
+pub struct CommunicatedBalls {
+    /// For keeping track what position we've sent out.
+    sent: Option<na::Point2<f32>>,
+}
+
+impl CommunicatedBalls {
+    /// Check it the position has changed enough from last frame.
+    fn change_enough(&mut self, ball: &Option<na::Point2<f32>>) -> bool {
+        match (ball, &self.sent) {
+            (None, None) => false,
+            (None, Some(_)) => true,
+            (Some(_), None) => true,
+            (Some(old), Some(new)) => na::distance(old, new) > MIN_CHANGE,
+        }
+    }
+
+    /// Send your ball position (even if it's None) as a message.
+    fn send_message(&mut self, ball_position: Option<na::Point2<f32>>, tc: &mut TeamCommunication) {
+        tc.outbound_mut()
+            .update_or_push(TeamMessage::DetectedBall(ball_position))
+            .expect("Unable to encode detected ball");
+        self.sent = ball_position;
+    }
+
+    /// Receive messages.
+    // 2.A.a. If no other robot are detecting a ball, we return the same None we had
+    // 2.A.b. If there are other robots detecting a ball, we take one from theirs as our own.
+    fn receive_messages(comms: &mut TeamCommunication) -> Option<na::Point2<f32>> {
+        let mut received_ball = None;
+
+        while let Some((_, _, ball)) = comms.inbound_mut().take_map(|_, _, what| match what {
+            TeamMessage::DetectedBall(ball) => Some(*ball),
+            _ => None,
+        }) {
+            received_ball = received_ball.or(ball);
+        }
+
+        received_ball
+    }
+}
+
+fn communicate_balls_system(
+    mut communicated_balls: ResMut<CommunicatedBalls>,
+    mut tc: ResMut<TeamCommunication>,
+    ball_tracker: Res<BallTracker>,
+    mut team_ball_position: ResMut<TeamBallPosition>,
+) {
+    let optional_ball_position = if let Hypothesis::Stationary(_) = ball_tracker.cutoff() {
+        Some(ball_tracker.state().0)
+    } else {
+        None
+    };
+
+    // 1. Check if it has changed enough and if so, we send a message.
+    // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
+    if communicated_balls.change_enough(&optional_ball_position) {
+        communicated_balls.send_message(optional_ball_position, &mut tc)
+    }
+
+    team_ball_position.0 =
+        optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc));
+}
\ No newline at end of file
diff --git a/yggdrasil/src/vision/ball_detection/mod.rs b/yggdrasil/src/vision/ball_detection/mod.rs
index 2cea2a247..928d66471 100644
--- a/yggdrasil/src/vision/ball_detection/mod.rs
+++ b/yggdrasil/src/vision/ball_detection/mod.rs
@@ -2,6 +2,7 @@
 
 pub mod ball_tracker;
 pub mod classifier;
+mod communication;
 pub mod proposal;
 
 use std::{sync::Arc, time::Duration};
@@ -9,6 +10,8 @@ use std::{sync::Arc, time::Duration};
 pub use ball_tracker::BallHypothesis;
 use ball_tracker::BallTracker;
 use bevy::prelude::*;
+use communication::CommunicatedBallsPlugin;
+pub use communication::TeamBallPosition;
 use heimdall::{Bottom, CameraLocation, Top};
 use nidhogg::types::{FillExt, LeftEye, color};
 use proposal::BallProposalConfigs;
@@ -31,6 +34,7 @@ pub struct BallDetectionPlugin;
 
 impl Plugin for BallDetectionPlugin {
     fn build(&self, app: &mut App) {
+        app.add_plugins(CommunicatedBallsPlugin);
         app.init_config::<BallDetectionConfig>();
         app.add_plugins((
             proposal::BallProposalPlugin::<Top>::default(),
@@ -144,6 +148,7 @@ fn log_3d_balls(
 
     if let BallHypothesis::Stationary(max_variance) = state {
         let pos = robot_pose.robot_to_world(&ball_tracker.state());
+        
         if last_logged.is_none_or(|last_logged_cycle| last_ball_tracker_update > last_logged_cycle)
         {
             *last_logged = Some(last_ball_tracker_update);

From 4af0a6b0225728ca2584cb28bcc8c9258044750a Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 23 Apr 2025 16:50:30 +0200
Subject: [PATCH 25/46] Transformation local<->global coordinates added

---
 .../src/vision/ball_detection/communication.rs | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 3365997fc..8a05aca73 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -50,7 +50,7 @@ impl CommunicatedBalls {
     /// Receive messages.
     // 2.A.a. If no other robot are detecting a ball, we return the same None we had
     // 2.A.b. If there are other robots detecting a ball, we take one from theirs as our own.
-    fn receive_messages(comms: &mut TeamCommunication) -> Option<na::Point2<f32>> {
+    fn receive_messages(comms: &mut TeamCommunication,  pose: &RobotPose) -> Option<na::Point2<f32>> {
         let mut received_ball = None;
 
         while let Some((_, _, ball)) = comms.inbound_mut().take_map(|_, _, what| match what {
@@ -59,8 +59,8 @@ impl CommunicatedBalls {
         }) {
             received_ball = received_ball.or(ball);
         }
-
-        received_ball
+    // If we received a ball, transform it from world coordinates to robot coordinates
+    received_ball.map(|ball| pose.world_to_robot(&ball))
     }
 }
 
@@ -68,7 +68,8 @@ fn communicate_balls_system(
     mut communicated_balls: ResMut<CommunicatedBalls>,
     mut tc: ResMut<TeamCommunication>,
     ball_tracker: Res<BallTracker>,
-    mut team_ball_position: ResMut<TeamBallPosition>,
+    mut team_ball_position: ResMut<TeamBallPosition>,    
+    pose: Res<RobotPose>,
 ) {
     let optional_ball_position = if let Hypothesis::Stationary(_) = ball_tracker.cutoff() {
         Some(ball_tracker.state().0)
@@ -79,9 +80,14 @@ fn communicate_balls_system(
     // 1. Check if it has changed enough and if so, we send a message.
     // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
     if communicated_balls.change_enough(&optional_ball_position) {
-        communicated_balls.send_message(optional_ball_position, &mut tc)
+        if let Some(local_ball_pos) = optional_ball_position {
+            let transformed_position = optional_ball_position.map(|pos| pose.robot_to_world(&pos));
+            communicated_balls.send_message(transformed_position, &mut tc)
+        } else {
+            communicated_balls.send_message(None, &mut tc); // optional_ball_position = None in this case
+        }
     }
 
     team_ball_position.0 =
-        optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc));
+        optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc, &pose));
 }
\ No newline at end of file

From 28d86fe638a88181cb51ba9b130bd1117e0a005a Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 23 Apr 2025 17:17:08 +0200
Subject: [PATCH 26/46] Typo fixed

---
 crates/bifrost/src/serialization/nalgebra.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/bifrost/src/serialization/nalgebra.rs b/crates/bifrost/src/serialization/nalgebra.rs
index d785004bd..2bc565cb6 100644
--- a/crates/bifrost/src/serialization/nalgebra.rs
+++ b/crates/bifrost/src/serialization/nalgebra.rs
@@ -3,7 +3,7 @@
 use std::io::{Read, Write};
 
 use nalgebra::{Dim, Matrix, Scalar, Storage, StorageMut, 
-    allocator::Allocator, base::default_allocator::DefaultAllocator, DinName, OPoint};
+    allocator::Allocator, base::default_allocator::DefaultAllocator, DimName, OPoint};
 
 use super::{Decode, Encode};
 

From 78e71bbd354d6df94e7abf7ccc6edbc23f634852 Mon Sep 17 00:00:00 2001
From: Julia Blaauboer <j.s.blaauboer@gmail.com>
Date: Wed, 23 Apr 2025 17:20:25 +0200
Subject: [PATCH 27/46] fromat

---
 crates/bifrost/src/serialization/codec.rs         |  4 ++--
 crates/bifrost/src/serialization/nalgebra.rs      |  6 ++++--
 .../src/vision/ball_detection/communication.rs    | 15 +++++++++------
 yggdrasil/src/vision/ball_detection/mod.rs        |  2 +-
 4 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/crates/bifrost/src/serialization/codec.rs b/crates/bifrost/src/serialization/codec.rs
index efda7ea21..0692b2c5e 100644
--- a/crates/bifrost/src/serialization/codec.rs
+++ b/crates/bifrost/src/serialization/codec.rs
@@ -413,7 +413,7 @@ where
             Some(inner) => {
                 write.write_u8(1)?;
                 inner.encode(write)
-            },
+            }
             None => Ok(write.write_u8(0)?),
         }
     }
@@ -428,7 +428,7 @@ where
 
 impl<T> Decode for Option<T>
 where
-    T: Decode
+    T: Decode,
 {
     fn decode(mut read: impl Read) -> Result<Self>
     where
diff --git a/crates/bifrost/src/serialization/nalgebra.rs b/crates/bifrost/src/serialization/nalgebra.rs
index 2bc565cb6..497d1f156 100644
--- a/crates/bifrost/src/serialization/nalgebra.rs
+++ b/crates/bifrost/src/serialization/nalgebra.rs
@@ -2,8 +2,10 @@
 
 use std::io::{Read, Write};
 
-use nalgebra::{Dim, Matrix, Scalar, Storage, StorageMut, 
-    allocator::Allocator, base::default_allocator::DefaultAllocator, DimName, OPoint};
+use nalgebra::{
+    Dim, DimName, Matrix, OPoint, Scalar, Storage, StorageMut, allocator::Allocator,
+    base::default_allocator::DefaultAllocator,
+};
 
 use super::{Decode, Encode};
 
diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 8a05aca73..2d35dc66d 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -4,7 +4,7 @@ use nalgebra::{self as na, Point2};
 use crate::communication::{TeamCommunication, TeamMessage};
 
 // Import camera proposals
-use super::{ball_tracker::BallTracker, Hypothesis};
+use super::{Hypothesis, ball_tracker::BallTracker};
 
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
@@ -50,7 +50,10 @@ impl CommunicatedBalls {
     /// Receive messages.
     // 2.A.a. If no other robot are detecting a ball, we return the same None we had
     // 2.A.b. If there are other robots detecting a ball, we take one from theirs as our own.
-    fn receive_messages(comms: &mut TeamCommunication,  pose: &RobotPose) -> Option<na::Point2<f32>> {
+    fn receive_messages(
+        comms: &mut TeamCommunication,
+        pose: &RobotPose,
+    ) -> Option<na::Point2<f32>> {
         let mut received_ball = None;
 
         while let Some((_, _, ball)) = comms.inbound_mut().take_map(|_, _, what| match what {
@@ -59,8 +62,8 @@ impl CommunicatedBalls {
         }) {
             received_ball = received_ball.or(ball);
         }
-    // If we received a ball, transform it from world coordinates to robot coordinates
-    received_ball.map(|ball| pose.world_to_robot(&ball))
+        // If we received a ball, transform it from world coordinates to robot coordinates
+        received_ball.map(|ball| pose.world_to_robot(&ball))
     }
 }
 
@@ -68,7 +71,7 @@ fn communicate_balls_system(
     mut communicated_balls: ResMut<CommunicatedBalls>,
     mut tc: ResMut<TeamCommunication>,
     ball_tracker: Res<BallTracker>,
-    mut team_ball_position: ResMut<TeamBallPosition>,    
+    mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
 ) {
     let optional_ball_position = if let Hypothesis::Stationary(_) = ball_tracker.cutoff() {
@@ -90,4 +93,4 @@ fn communicate_balls_system(
 
     team_ball_position.0 =
         optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc, &pose));
-}
\ No newline at end of file
+}
diff --git a/yggdrasil/src/vision/ball_detection/mod.rs b/yggdrasil/src/vision/ball_detection/mod.rs
index 928d66471..9a91bdd07 100644
--- a/yggdrasil/src/vision/ball_detection/mod.rs
+++ b/yggdrasil/src/vision/ball_detection/mod.rs
@@ -148,7 +148,7 @@ fn log_3d_balls(
 
     if let BallHypothesis::Stationary(max_variance) = state {
         let pos = robot_pose.robot_to_world(&ball_tracker.state());
-        
+
         if last_logged.is_none_or(|last_logged_cycle| last_ball_tracker_update > last_logged_cycle)
         {
             *last_logged = Some(last_ball_tracker_update);

From 305890e6e45b775d618b727f7c7f3c7ccbf11d71 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Sat, 19 Jul 2025 02:35:52 +0200
Subject: [PATCH 28/46] rebase

---
 yggdrasil/src/vision/ball_detection/communication.rs | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 2d35dc66d..98d290d51 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -1,10 +1,13 @@
 use bevy::prelude::*;
 use nalgebra::{self as na, Point2};
 
-use crate::communication::{TeamCommunication, TeamMessage};
+use crate::{
+    communication::{TeamCommunication, TeamMessage},
+    localization::RobotPose,
+};
 
 // Import camera proposals
-use super::{Hypothesis, ball_tracker::BallTracker};
+use super::ball_tracker::{BallHypothesis, BallTracker};
 
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
@@ -74,7 +77,7 @@ fn communicate_balls_system(
     mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
 ) {
-    let optional_ball_position = if let Hypothesis::Stationary(_) = ball_tracker.cutoff() {
+    let optional_ball_position = if let BallHypothesis::Stationary(_) = ball_tracker.cutoff() {
         Some(ball_tracker.state().0)
     } else {
         None

From f95a6a828a019e54d7b89b46103292a90f8c6132 Mon Sep 17 00:00:00 2001
From: Julia Blaauboer <j.s.blaauboer@gmail.com>
Date: Wed, 23 Apr 2025 17:38:40 +0200
Subject: [PATCH 29/46] shut up clippy

---
 yggdrasil/src/vision/ball_detection/communication.rs | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 98d290d51..174ad1aba 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -86,12 +86,8 @@ fn communicate_balls_system(
     // 1. Check if it has changed enough and if so, we send a message.
     // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
     if communicated_balls.change_enough(&optional_ball_position) {
-        if let Some(local_ball_pos) = optional_ball_position {
-            let transformed_position = optional_ball_position.map(|pos| pose.robot_to_world(&pos));
-            communicated_balls.send_message(transformed_position, &mut tc)
-        } else {
-            communicated_balls.send_message(None, &mut tc); // optional_ball_position = None in this case
-        }
+        let transformed_position = optional_ball_position.map(|pos| pose.robot_to_world(&pos));
+        communicated_balls.send_message(transformed_position, &mut tc);
     }
 
     team_ball_position.0 =

From 00f00a7b871114f4885847ea684ea91db1ea9960 Mon Sep 17 00:00:00 2001
From: Julia Blaauboer <j.s.blaauboer@gmail.com>
Date: Wed, 23 Apr 2025 17:44:12 +0200
Subject: [PATCH 30/46] weeeee

---
 yggdrasil/src/vision/ball_detection/communication.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 174ad1aba..ec0d65795 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -33,7 +33,7 @@ pub struct CommunicatedBalls {
 
 impl CommunicatedBalls {
     /// Check it the position has changed enough from last frame.
-    fn change_enough(&mut self, ball: &Option<na::Point2<f32>>) -> bool {
+    fn change_enough(&mut self, ball: Option<&na::Point2<f32>>) -> bool {
         match (ball, &self.sent) {
             (None, None) => false,
             (None, Some(_)) => true,
@@ -85,7 +85,7 @@ fn communicate_balls_system(
 
     // 1. Check if it has changed enough and if so, we send a message.
     // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
-    if communicated_balls.change_enough(&optional_ball_position) {
+    if communicated_balls.change_enough(optional_ball_position.as_ref()) {
         let transformed_position = optional_ball_position.map(|pos| pose.robot_to_world(&pos));
         communicated_balls.send_message(transformed_position, &mut tc);
     }

From 8dc98744718ac3244b00d52672ff7b3eee17a58c Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Sat, 19 Jul 2025 02:36:43 +0200
Subject: [PATCH 31/46] rebase

---
 yggdrasil/src/behavior/roles/striker.rs            |  3 +++
 .../src/vision/ball_detection/communication.rs     | 14 +++++++-------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 1ac3d20f9..8ec29154a 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -143,6 +143,9 @@ pub fn striker_role(
         commands.remove_resource::<LostBallSearchTimer>();
     }
 
+    println!("we have a ball");
+
+    let absolute_ball = pose.robot_to_world(&relative_ball);
     let ball_angle = pose.angle_to(&absolute_ball);
     let ball_distance = relative_ball.coords.norm();
     let ball_target: nalgebra::OPoint<f32, nalgebra::Const<3>> =
diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index ec0d65795..76811878e 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -76,12 +76,9 @@ fn communicate_balls_system(
     ball_tracker: Res<BallTracker>,
     mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
+    mut last_received: Local<Option<Point2<f32>>>,
 ) {
-    let optional_ball_position = if let BallHypothesis::Stationary(_) = ball_tracker.cutoff() {
-        Some(ball_tracker.state().0)
-    } else {
-        None
-    };
+    let optional_ball_position = ball_tracker.stationary_ball();
 
     // 1. Check if it has changed enough and if so, we send a message.
     // let optional_ball_position = ball_position.map(|ball_position| ball_position.0);
@@ -90,6 +87,9 @@ fn communicate_balls_system(
         communicated_balls.send_message(transformed_position, &mut tc);
     }
 
-    team_ball_position.0 =
-        optional_ball_position.or_else(|| CommunicatedBalls::receive_messages(&mut tc, &pose));
+    if let Some(new_pos) = CommunicatedBalls::receive_messages(&mut tc, &pose) {
+        *last_received = Some(new_pos);
+    }
+
+    team_ball_position.0 = optional_ball_position.or_else(|| *last_received);
 }

From af8320637e927bec4a357ed057d97dfea0f5b4a1 Mon Sep 17 00:00:00 2001
From: Gijs de Jong <berichtaangijs@gmail.com>
Date: Wed, 23 Apr 2025 18:44:31 +0200
Subject: [PATCH 32/46] stuff

---
 .../src/vision/ball_detection/communication.rs    | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 76811878e..ad84a5ce1 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -3,7 +3,9 @@ use nalgebra::{self as na, Point2};
 
 use crate::{
     communication::{TeamCommunication, TeamMessage},
+    core::debug::DebugContext,
     localization::RobotPose,
+    nao::Cycle,
 };
 
 // Import camera proposals
@@ -77,6 +79,8 @@ fn communicate_balls_system(
     mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
     mut last_received: Local<Option<Point2<f32>>>,
+    ctx: DebugContext,
+    cycle: Res<Cycle>,
 ) {
     let optional_ball_position = ball_tracker.stationary_ball();
 
@@ -92,4 +96,15 @@ fn communicate_balls_system(
     }
 
     team_ball_position.0 = optional_ball_position.or_else(|| *last_received);
+
+    if let Some(pos) = team_ball_position.0 {
+        let global = pose.robot_to_world(&pos);
+        ctx.log_with_cycle(
+            "/team_ball",
+            *cycle,
+            &rerun::Points3D::new([(global.x, global.y, 0.01)])
+                .with_radii([0.1])
+                .with_labels(["team_ball"]),
+        );
+    }
 }

From be600c8096e5d793904f422bd029b627444cfc67 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Mon, 19 May 2025 22:57:03 +0200
Subject: [PATCH 33/46] fixing clippy

---
 yggdrasil/src/vision/ball_detection/communication.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index ad84a5ce1..f93cb0d23 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -9,7 +9,7 @@ use crate::{
 };
 
 // Import camera proposals
-use super::ball_tracker::{BallHypothesis, BallTracker};
+use super::ball_tracker::{BallTracker};
 
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;

From 49de75e2c6d10be65c986743ee7a31838eab9217 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Mon, 19 May 2025 23:08:00 +0200
Subject: [PATCH 34/46] merging conflict

---
 yggdrasil/src/communication/team.rs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/yggdrasil/src/communication/team.rs b/yggdrasil/src/communication/team.rs
index 7e7c5043d..4f821ffb9 100644
--- a/yggdrasil/src/communication/team.rs
+++ b/yggdrasil/src/communication/team.rs
@@ -6,6 +6,7 @@ use bevy::prelude::{App, *};
 use miette::IntoDiagnostic;
 use tracing::{debug, warn};
 use nalgebra as na;
+use tracing::{debug, warn};
 
 use crate::core::config::showtime::ShowtimeConfig;
 use crate::prelude::Result;

From f83d0bcb715c098f1636fbfe0bab02339e02d445 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Mon, 19 May 2025 23:17:23 +0200
Subject: [PATCH 35/46] clippy me this one

---
 yggdrasil/src/vision/ball_detection/communication.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index f93cb0d23..cd3b75482 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -9,7 +9,7 @@ use crate::{
 };
 
 // Import camera proposals
-use super::ball_tracker::{BallTracker};
+use super::ball_tracker::BallTracker;
 
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
@@ -72,6 +72,7 @@ impl CommunicatedBalls {
     }
 }
 
+#[allow(clippy::too_many_arguments)]
 fn communicate_balls_system(
     mut communicated_balls: ResMut<CommunicatedBalls>,
     mut tc: ResMut<TeamCommunication>,

From b1be8021091441b5a72966c324569a32debe9de4 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 21 May 2025 12:32:27 +0200
Subject: [PATCH 36/46] Removed print check

---
 yggdrasil/src/behavior/roles/striker.rs | 1 -
 1 file changed, 1 deletion(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 8ec29154a..8ea1943d8 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -143,7 +143,6 @@ pub fn striker_role(
         commands.remove_resource::<LostBallSearchTimer>();
     }
 
-    println!("we have a ball");
 
     let absolute_ball = pose.robot_to_world(&relative_ball);
     let ball_angle = pose.angle_to(&absolute_ball);

From 1354800e1af8cbec0e1632d1f412ee59505883d5 Mon Sep 17 00:00:00 2001
From: marinaog <116306804+marinaog@users.noreply.github.com>
Date: Wed, 21 May 2025 13:36:01 +0200
Subject: [PATCH 37/46] cargo fmt doesnt forgive

---
 yggdrasil/src/behavior/roles/striker.rs | 1 -
 1 file changed, 1 deletion(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 8ea1943d8..6362bc0e6 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -143,7 +143,6 @@ pub fn striker_role(
         commands.remove_resource::<LostBallSearchTimer>();
     }
 
-
     let absolute_ball = pose.robot_to_world(&relative_ball);
     let ball_angle = pose.angle_to(&absolute_ball);
     let ball_distance = relative_ball.coords.norm();

From 05a4c42650bf015f5cd7f42196ec9782bd4a08e4 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Thu, 17 Jul 2025 20:50:44 +0200
Subject: [PATCH 38/46] timeout team ball after constant amount of cycles
 without communicated ball

---
 .../vision/ball_detection/communication.rs    | 35 +++++++++++++++++--
 1 file changed, 32 insertions(+), 3 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index cd3b75482..4f868a4b5 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -14,12 +14,22 @@ use super::ball_tracker::BallTracker;
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
 
+// constant for last received team ball position
+const LAST_RECEIVED: usize = 500;
+
 pub struct CommunicatedBallsPlugin;
 
+#[derive(Resource, Default, Debug)]
+pub struct LastReceivedBall{
+    pub position: Option<Point2<f32>>,
+    pub cycles_since_last_received: usize,
+}
+
 impl Plugin for CommunicatedBallsPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<TeamBallPosition>()
             .init_resource::<CommunicatedBalls>()
+            .init_resource::<LastReceivedBall>()
             .add_systems(Update, communicate_balls_system);
     }
 }
@@ -79,7 +89,7 @@ fn communicate_balls_system(
     ball_tracker: Res<BallTracker>,
     mut team_ball_position: ResMut<TeamBallPosition>,
     pose: Res<RobotPose>,
-    mut last_received: Local<Option<Point2<f32>>>,
+    mut last_received: ResMut<LastReceivedBall>,
     ctx: DebugContext,
     cycle: Res<Cycle>,
 ) {
@@ -93,10 +103,23 @@ fn communicate_balls_system(
     }
 
     if let Some(new_pos) = CommunicatedBalls::receive_messages(&mut tc, &pose) {
-        *last_received = Some(new_pos);
+        println!("Received new ball position: {:?}", new_pos);
+        last_received.position = Some(new_pos);
+    } else {
+        last_received.cycles_since_last_received += 1;
+        println!(
+            "No team ball position received for {} cycles",
+            last_received.cycles_since_last_received
+        );
+        if last_received.cycles_since_last_received > LAST_RECEIVED {
+            last_received.position = None;
+            last_received.cycles_since_last_received = 0;
+        }
     }
 
-    team_ball_position.0 = optional_ball_position.or_else(|| *last_received);
+    team_ball_position.0 = optional_ball_position.or_else(|| last_received.position);
+    println!("last received position: {:?}", last_received.position);
+    println!("team ball position: {:?}", team_ball_position.0);
 
     if let Some(pos) = team_ball_position.0 {
         let global = pose.robot_to_world(&pos);
@@ -107,5 +130,11 @@ fn communicate_balls_system(
                 .with_radii([0.1])
                 .with_labels(["team_ball"]),
         );
+    } else {
+        ctx.log_with_cycle(
+            "/team_ball",
+            *cycle,
+            &rerun::Clear::recursive(),
+        );
     }
 }

From c7cc8e8e10d1875d0befad48e30f8d12c2bba9fc Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:23:45 +0200
Subject: [PATCH 39/46] formatting

---
 yggdrasil/src/vision/ball_detection/communication.rs | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 4f868a4b5..8fa5e7015 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -20,7 +20,7 @@ const LAST_RECEIVED: usize = 500;
 pub struct CommunicatedBallsPlugin;
 
 #[derive(Resource, Default, Debug)]
-pub struct LastReceivedBall{
+pub struct LastReceivedBall {
     pub position: Option<Point2<f32>>,
     pub cycles_since_last_received: usize,
 }
@@ -131,10 +131,6 @@ fn communicate_balls_system(
                 .with_labels(["team_ball"]),
         );
     } else {
-        ctx.log_with_cycle(
-            "/team_ball",
-            *cycle,
-            &rerun::Clear::recursive(),
-        );
+        ctx.log_with_cycle("/team_ball", *cycle, &rerun::Clear::recursive());
     }
 }

From e994c173c46567720e4ee0a76befb96d3a37f175 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:46:08 +0200
Subject: [PATCH 40/46] remove print statements

---
 yggdrasil/src/vision/ball_detection/communication.rs | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index 8fa5e7015..cec9c476a 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -103,7 +103,6 @@ fn communicate_balls_system(
     }
 
     if let Some(new_pos) = CommunicatedBalls::receive_messages(&mut tc, &pose) {
-        println!("Received new ball position: {:?}", new_pos);
         last_received.position = Some(new_pos);
     } else {
         last_received.cycles_since_last_received += 1;
@@ -118,8 +117,6 @@ fn communicate_balls_system(
     }
 
     team_ball_position.0 = optional_ball_position.or_else(|| last_received.position);
-    println!("last received position: {:?}", last_received.position);
-    println!("team ball position: {:?}", team_ball_position.0);
 
     if let Some(pos) = team_ball_position.0 {
         let global = pose.robot_to_world(&pos);

From a3a111087fcce322182160801f20ae16e92199b0 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:47:37 +0200
Subject: [PATCH 41/46] test balltracker crate addition

---
 yggdrasil/src/behavior/roles/striker.rs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 6362bc0e6..6726aeafd 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -23,6 +23,7 @@ use crate::{
 };
 
 use std::time::Duration;
+use crate::vision::ball_detection::ball_tracker::BallTracker;
 
 const WALK_WITH_BALL_ANGLE: f32 = 0.3;
 const ALIGN_WITH_BALL_DISTANCE: f32 = 0.3;

From 9ac7140850f0e43ec51ed3dc4d2d10576a011479 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 01:57:57 +0200
Subject: [PATCH 42/46] change team ball to detected ball in striker.rs

---
 yggdrasil/src/behavior/roles/striker.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 6726aeafd..40666920f 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -103,12 +103,12 @@ pub fn striker_role(
     mut commands: Commands,
     pose: Res<RobotPose>,
     layout_config: Res<LayoutConfig>,
-    team_ball_position: Res<TeamBallPosition>,
+    detected_ball_position: Res<TeamBallPosition>,
     mut nao_manager: ResMut<NaoManager>,
     lost_ball_timer: Option<ResMut<LostBallSearchTimer>>,
     time: Res<Time>,
 ) {
-    let Some(relative_ball) = team_ball_position.0 else {
+    let Some(relative_ball) = detected_ball_position.0 else {
         if let Some(mut timer) = lost_ball_timer {
             timer.timer.tick(time.delta()); // <- tick the timer
 

From b401e97a2debb01b9128c2339efbcc78a5b69949 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 13:23:33 +0200
Subject: [PATCH 43/46] fix striker.rs not being merged with main

---
 yggdrasil/src/behavior/roles/striker.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 40666920f..08d816173 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -212,12 +212,12 @@ pub fn striker_role(
 //TODO: Make this a separate stand-alone behavior
 fn set_play(
     mut commands: Commands,
-    ball_tracker: Res<BallTracker>,
+    detected_ball_position: Res<TeamBallPosition>,
     pose: Res<RobotPose>,
     behavior_state: Res<State<BehaviorState>>,
     walk: Option<Res<Walk>>,
 ) {
-    let Some(relative_ball) = ball_tracker.stationary_ball() else {
+    let Some(relative_ball) = detected_ball_position.0 else {
         return;
     };
     let absolute_ball = pose.robot_to_world(&relative_ball);

From 130a91f88e38e02ebaaf0f806b84e0e5b91578bb Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Fri, 18 Jul 2025 18:11:38 +0200
Subject: [PATCH 44/46] remove cycle time thresholding on communicated ball
 message age

---
 .../src/vision/ball_detection/communication.rs     | 14 +-------------
 1 file changed, 1 insertion(+), 13 deletions(-)

diff --git a/yggdrasil/src/vision/ball_detection/communication.rs b/yggdrasil/src/vision/ball_detection/communication.rs
index cec9c476a..1ea8f3155 100644
--- a/yggdrasil/src/vision/ball_detection/communication.rs
+++ b/yggdrasil/src/vision/ball_detection/communication.rs
@@ -14,15 +14,11 @@ use super::ball_tracker::BallTracker;
 // Constant for the minimum acceptable change
 const MIN_CHANGE: f32 = 0.1;
 
-// constant for last received team ball position
-const LAST_RECEIVED: usize = 500;
-
 pub struct CommunicatedBallsPlugin;
 
 #[derive(Resource, Default, Debug)]
 pub struct LastReceivedBall {
     pub position: Option<Point2<f32>>,
-    pub cycles_since_last_received: usize,
 }
 
 impl Plugin for CommunicatedBallsPlugin {
@@ -105,15 +101,7 @@ fn communicate_balls_system(
     if let Some(new_pos) = CommunicatedBalls::receive_messages(&mut tc, &pose) {
         last_received.position = Some(new_pos);
     } else {
-        last_received.cycles_since_last_received += 1;
-        println!(
-            "No team ball position received for {} cycles",
-            last_received.cycles_since_last_received
-        );
-        if last_received.cycles_since_last_received > LAST_RECEIVED {
-            last_received.position = None;
-            last_received.cycles_since_last_received = 0;
-        }
+        last_received.position = None;
     }
 
     team_ball_position.0 = optional_ball_position.or_else(|| last_received.position);

From f380c44425abc165f5e02a0a7864fd41ca2ef7b9 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Sat, 19 Jul 2025 01:57:04 +0200
Subject: [PATCH 45/46] fix imports

---
 yggdrasil/src/behavior/roles/striker.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 08d816173..569b5abe5 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -19,11 +19,10 @@ use crate::{
     localization::RobotPose,
     motion::{step_planner::Target, walking_engine::step::Step},
     nao::{NaoManager, Priority},
-    vision::ball_detection::TeamBallPosition,
+    vision::ball_detection::{TeamBallPosition, ball_tracker::BallTracker},
 };
 
 use std::time::Duration;
-use crate::vision::ball_detection::ball_tracker::BallTracker;
 
 const WALK_WITH_BALL_ANGLE: f32 = 0.3;
 const ALIGN_WITH_BALL_DISTANCE: f32 = 0.3;
@@ -99,6 +98,7 @@ fn reset_striker_role(mut nao_manager: ResMut<NaoManager>) {
     nao_manager.set_right_eye_led(RightEye::fill(color::f32::EMPTY), Priority::default());
 }
 
+#[allow(clippy::too_many_arguments)]
 pub fn striker_role(
     mut commands: Commands,
     pose: Res<RobotPose>,

From eb3bcc99439c7de43847dbb2ea2bd3ca2d37a328 Mon Sep 17 00:00:00 2001
From: Juell Sprott <juell.sprott@student.uva.nl>
Date: Sat, 19 Jul 2025 22:14:59 +0200
Subject: [PATCH 46/46] rebase

---
 yggdrasil/src/behavior/roles/striker.rs | 5 +++--
 yggdrasil/src/communication/team.rs     | 1 -
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/yggdrasil/src/behavior/roles/striker.rs b/yggdrasil/src/behavior/roles/striker.rs
index 569b5abe5..61d2b379a 100644
--- a/yggdrasil/src/behavior/roles/striker.rs
+++ b/yggdrasil/src/behavior/roles/striker.rs
@@ -9,7 +9,7 @@ use crate::{
             LookMode, LostBallSearch, RlStrikerSearchBehavior, StandLookAt, Walk, WalkTo,
             WalkToBall,
         },
-        engine::{BehaviorState, CommandsBehaviorExt, RoleState, Roles, in_role},
+        engine::{in_role, BehaviorState, CommandsBehaviorExt, RoleState, Roles},
         primary_state::PrimaryState,
     },
     core::config::{
@@ -19,7 +19,7 @@ use crate::{
     localization::RobotPose,
     motion::{step_planner::Target, walking_engine::step::Step},
     nao::{NaoManager, Priority},
-    vision::ball_detection::{TeamBallPosition, ball_tracker::BallTracker},
+    vision::ball_detection::{ball_tracker::{self, BallTracker}, TeamBallPosition},
 };
 
 use std::time::Duration;
@@ -106,6 +106,7 @@ pub fn striker_role(
     detected_ball_position: Res<TeamBallPosition>,
     mut nao_manager: ResMut<NaoManager>,
     lost_ball_timer: Option<ResMut<LostBallSearchTimer>>,
+    ball_tracker: Res<BallTracker>,
     time: Res<Time>,
 ) {
     let Some(relative_ball) = detected_ball_position.0 else {
diff --git a/yggdrasil/src/communication/team.rs b/yggdrasil/src/communication/team.rs
index 4f821ffb9..7e7c5043d 100644
--- a/yggdrasil/src/communication/team.rs
+++ b/yggdrasil/src/communication/team.rs
@@ -6,7 +6,6 @@ use bevy::prelude::{App, *};
 use miette::IntoDiagnostic;
 use tracing::{debug, warn};
 use nalgebra as na;
-use tracing::{debug, warn};
 
 use crate::core::config::showtime::ShowtimeConfig;
 use crate::prelude::Result;