From e3debf74d6b2b6c8d6dc3664e0b6e5ee320352f3 Mon Sep 17 00:00:00 2001
From: NicolaiO <nicolai.ommer@gmail.com>
Date: Wed, 22 May 2024 13:13:42 +0000
Subject: [PATCH] Resolve "Add Integration Test checking for KickOff Situation"

Closes #1961

See merge request main/Sumatra!1838

sumatra-commit: be484e6acc8b4edf78321eb477422b3702393fdd
---
 .../java/edu/tigers/sumatra/ids/EAiTeam.java  | 27 ++++++++++++++++++-
 .../tigers/sumatra/wp/data/BallContact.java   | 10 +++++++
 2 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/modules/common/src/main/java/edu/tigers/sumatra/ids/EAiTeam.java b/modules/common/src/main/java/edu/tigers/sumatra/ids/EAiTeam.java
index 8b037603..3ba8d482 100644
--- a/modules/common/src/main/java/edu/tigers/sumatra/ids/EAiTeam.java
+++ b/modules/common/src/main/java/edu/tigers/sumatra/ids/EAiTeam.java
@@ -21,7 +21,7 @@ public enum EAiTeam
 
 	;
 
-	private ETeamColor teamColor;
+	private final ETeamColor teamColor;
 
 
 	/**
@@ -53,4 +53,29 @@ public boolean matchesColor(ETeamColor color)
 	{
 		return color == teamColor;
 	}
+
+
+	/**
+	 * @param color
+	 * @return
+	 */
+	public static EAiTeam opposite(final EAiTeam color)
+	{
+		return switch (color)
+		{
+			case YELLOW -> BLUE;
+			case BLUE -> YELLOW;
+		};
+	}
+
+
+	/**
+	 * @return
+	 */
+	public EAiTeam opposite()
+	{
+		return opposite(this);
+	}
+
+
 }
diff --git a/modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/data/BallContact.java b/modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/data/BallContact.java
index d5ea4f0f..df57a5fd 100644
--- a/modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/data/BallContact.java
+++ b/modules/moduli-wp/src/main/java/edu/tigers/sumatra/wp/data/BallContact.java
@@ -126,4 +126,14 @@ public boolean hadContactFromVision(double horizon)
 	{
 		return (current - visionEnd) * 1e-9 < horizon;
 	}
+
+
+	/**
+	 * @return true, if the ball had contact within the last 0.2 seconds
+	 */
+	public boolean hadRecentContactFromVision()
+	{
+		return hadContactFromVision(recentContactHorizon);
+	}
+
 }