Resolve "Vision filter does not provide kick event for goals"

Closes #1859

See merge request main/Sumatra!1686

sumatra-commit: ae96aa18cacc7139aeb5570789924df8490a70e0

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

@@ -15,8 +15,6 @@
 import edu.tigers.sumatra.wp.data.BallLeftFieldPosition;
 import edu.tigers.sumatra.wp.data.KickedBall;
 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;
@@ -29,11 +27,10 @@
  */
 public class GoalDetector extends AGameEventDetector
 {
-	private final Logger log = LogManager.getLogger(GoalDetector.class.getName());
-
 	private TimedPosition lastBallLeftFieldPos = null;
 	private final Map<ETeamColor, Long> lastTouchedMap = new EnumMap<>(ETeamColor.class);
 	private final Map<ETeamColor, Double> maxBallHeightMap = new EnumMap<>(ETeamColor.class);
+	private KickedBall lastKickedball;
 
 	public GoalDetector()
 	{
@@ -48,6 +45,7 @@ public GoalDetector()
 	@Override
 	protected Optional<IGameEvent> doUpdate()
 	{
+		lastKickedball = frame.getWorldFrame().getKickedBall().orElse(lastKickedball);
 		for (ETeamColor team : ETeamColor.yellowBlueValues())
 		{
 			if (frame.getBotsTouchingBall().stream().anyMatch(b -> b.getBotID().getTeamColor() == team))
@@ -70,6 +68,7 @@ protected Optional<IGameEvent> doUpdate()
 	protected void doReset()
 	{
 		lastBallLeftFieldPos = null;
+		lastKickedball = null;
 	}
 
 
@@ -82,25 +81,14 @@ private IGameEvent processBallLeftField(final BallLeftFieldPosition ballLeftFiel
 			return null;
 		}
 
-		final var kickEvent = frame.getWorldFrame().getKickedBall();
-		final IVector2 kickLocation = kickEvent.map(KickedBall::getPosition).orElse(null);
-		final BotID kickingBot = kickEvent.map(KickedBall::getKickingBot).filter(AObjectID::isBot).orElse(null);
-
-		warnIfNoKickEventPresent();
+		final IVector2 kickLocation = Optional.ofNullable(lastKickedball).map(KickedBall::getPosition).orElse(null);
+		final BotID kickingBot = Optional.ofNullable(lastKickedball).map(KickedBall::getKickingBot)
+				.filter(AObjectID::isBot).orElse(null);
 
 		return createEvent(ballLeftFieldPosition, kickLocation, kickingBot);
 	}
 
 
-	private void warnIfNoKickEventPresent()
-	{
-		if (frame.getWorldFrame().getKickedBall().isEmpty())
-		{
-			log.warn("Goal detected, but no kick event found.");
-		}
-	}
-
-
 	private ETeamColor goalForTeam(final BallLeftFieldPosition ballLeftFieldPosition)
 	{
 		if (ballLeftFieldPosition.getPosition().getPos().x() < 0)