Visual referee update: Kicking team filtering

[ThagonDuarte]

Why? What?

This PR expands and depends on #1646. It uses the detected free kick signals and uses them to filter the kicking team. In the case, we are not sent a kicking team, the filter either determines it by use of the last ball position, or uses the detected free kick signal. This is then propagated to the FilteredGameControllerState.

Fixes #1476

ToDo / Known Issues

• Handle not knowing the kicking_team
• Use detection to set kicking_team and propagate to other Naos.
• Filter kicking_team to directly compute it in the SubStates CornerKick and GoalKick.
• Implement bevyhavior simulator scenarios for
  • Check that all roles only perform passive Actions while kicking_team is not known yet (is None), i.e. that no NAO directly walks to the ball and tries to kick it.
  • Check that None as kicking_team is handled correctly
  • Check KickingTeamFilter works as intended

Ideas for Next Iterations (Not This PR)

• Determine kicking_team directly by looking at the Penalty set in the same GameControllerMessage as the transition to the SubState PushingFreeKick.
• Also use team_ball in KickingTeamFilter. Depends on Time to reach rework #1634

How to Test

• In play, trigger the four free kicks CornerKick, GoalKick, KickIn, and PushingFreeKick.
  • Check that during GoalKick and CornerKick the correct kicking_team is produced by KickingTeamFilter and is correctly propagated to all nodes ready kicking_team.
• Check that the detected kicking_team is propagated correctly to all nodes importing kicking_team.

Please also test where behavior had to be adapted to not knowing the kicking_team some of the time:

• In ball_state_composer.rs a side_factor uses the kicking_team. What is its value for kicking_team == None`?
• In stand.rs the kicking_team is read multiple times to determine the Half.
• In localization.rs the kicking_team is used to modify_state().
• In rule_obstacle_composer.rs the create_penalty_box() uses the kicking_team.
• In search_suggestor.rs uses the kicking_team to determine the Half.
• The PathDeserialize implementation of Option requires a default to be defined for the underlying type T. Here this means Team has to receive a default value. Is Opponent a reasonable choice for this?