text: 
  import logging
  from multiprocessing import Queue
  from multiprocessing.managers import DictProxy
  from time import time
  from typing import Dict, List, Union, Any, Iterable
  
  import numpy as np
  
  from Engine.Communication.robot_state import RobotState
  from Engine.Tracker.Filters import RobotFilter
  from Engine.Tracker.Filters.ball_kalman_filter import BallFilter
  from Util import Pose, Position
  from Util.constant import FieldSide
  from Util.geometry import rotate, wrap_to_pi
  from Util.team_color_service import TeamColorService
  from config.config import Config
  
  config = Config()
  
  
  class Tracker:
  
      def __init__(self, vision_state: DictProxy, ui_send_queue: Queue):
          self.logger = logging.getLogger(self.__class__.__name__)
          self.ui_send_queue = ui_send_queue
  
          self.vision_state = vision_state
  
          self._blue_team = [RobotFilter(robot_id) for robot_id in range(config['ENGINE']['max_robot_id'])]
          self._yellow_team = [RobotFilter(robot_id) for robot_id in range(config['ENGINE']['max_robot_id'])]
          self._balls = [BallFilter(ball_id) for ball_id in range(config['ENGINE']['max_ball_on_field'])]
  
          self._camera_capture_time = [-1 for _ in range(config['ENGINE']['number_of_camera'])]
          self.neg_side = True if config['COACH']['on_negative_side'] else False
          self.our_color = config['COACH']['our_color']
  
          self.last_warning_time = None
  
      def update(self) -> Dict[str, List[Dict[str, Any]]]:
  
          for frame in self.camera_frames:
              self._log_new_robots_on_field(frame)
              self._camera_capture_time[frame['camera_id']] = frame['t_capture']
              self._update(frame)
  
          self._remove_undetected()
  
          return self.game_state
  
      def _update(self, detection_frame: Dict[str, List[Dict[str, Any]]]):
  
          for robot_obs in detection_frame.get('robots_blue', ()):
              if TeamColorService().our_team_color == TeamColorService.BLUE and robot_obs['robot_id'] > 7:
                  continue
              obs = np.array([robot_obs['x'], robot_obs['y'], robot_obs['orientation']])
              self._blue_team[robot_obs['robot_id']].update(obs, detection_frame['t_capture'])
  
          for robot_obs in detection_frame.get('robots_yellow', ()):
              if TeamColorService().our_team_color == TeamColorService.YELLOW and robot_obs['robot_id'] > 7:
                  continue
              obs = np.array([robot_obs['x'], robot_obs['y'], robot_obs['orientation']])
              self._yellow_team[robot_obs['robot_id']].update(obs, detection_frame['t_capture'])
  
          for ball_obs in detection_frame.get('balls', ()):
              obs = np.array([ball_obs['x'], ball_obs['y']])
              closest_ball = self.find_closest_ball_to_observation(obs)
              if closest_ball:
                  closest_ball.update(obs, detection_frame['t_capture'])
              else:
                  if self.last_warning_time is None or time() - self.last_warning_time > 5:
                      self.last_warning_time = time()
                      self.logger.debug('The tracker is not able to assign some observations to a ball. '
                                        'Try to increase the maximal number of ball on the field or recalibrate the vision.')
  
      def predict(self, robot_state: RobotState, dt: float):
  
          velocity_commands = [Pose() for _ in range(len(self._our_team))]
          for packet in robot_state.packet:
              velocity_commands[packet.robot_id] = packet.command
  
          for robot in self._our_team:
              if robot.orientation is not None:
                  velocity = self._put_in_world_referential(robot.orientation, velocity_commands[robot.id])
                  robot.predict(dt, next_velocity=velocity.to_array())
  
          for robot in self._their_team:
              robot.predict(dt)
  
          for ball in self._balls:
              ball.predict(dt)
  
      def _remove_undetected(self):
  
          for team_color, robots in self.active_robots.items():
              undetected_robots = set()
              for robot in robots:
                  if time() - robot.last_update_time > config['ENGINE']['max_undetected_robot_time']:
                      undetected_robots.add(robot.id)
                      robot.reset()
  
              if undetected_robots:
                  self.logger.debug('%s robot(s) undetected for more than %.2f seconds: %r',
                                    team_color.capitalize(),
                                    config['ENGINE']['max_undetected_robot_time'],
                                    undetected_robots)
  
          for ball in self.active_balls:
              if time() - ball.last_update_time > config['ENGINE']['max_undetected_ball_time']:
                  ball.reset()
                  self.logger.debug('Ball %d was undetected for more than %.2f seconds.',
                                    ball.id,
                                    config['ENGINE']['max_undetected_ball_time'])
  
      def _put_in_world_referential(self, orientation: float, cmd: Pose) -> Pose:
          if self.neg_side:
              cmd.position = rotate(cmd.position, -np.pi - orientation)
              cmd.x *= -1
              cmd.orientation *= -1
          else:
              cmd.position = rotate(cmd.position, orientation)
          return cmd
  
      def _log_new_robots_on_field(self, detection_frame: Dict[str, List[Dict[str, Any]]]):
          new_robots = {'blue': set(), 'yellow': set()}
  
          for robot_obs in detection_frame.get('robots_blue', ()):
              if not self._blue_team[robot_obs['robot_id']].is_active: new_robots['blue'].add(robot_obs['robot_id'])
  
          if new_robots['blue']:
              self.logger.debug('Blue robot(s) detected: %r', new_robots['blue'])
  
          for robot_obs in detection_frame.get('robots_yellow', ()):
              if not self._yellow_team[robot_obs['robot_id']].is_active: new_robots['yellow'].add(robot_obs['robot_id'])
          if new_robots['yellow']:
              self.logger.debug('Yellow robot(s) detected: %r', new_robots['yellow'])
  
      @property
      def camera_frames(self) -> List[Dict[str, Any]]:
  
          valid_frames = [frame for frame in self.vision_state if self._is_valid_frame(frame)]
  
          valid_frames = [Tracker._remove_ignored_side(frame) for frame in valid_frames]
  
          if self.neg_side:
              valid_frames = [Tracker._change_frame_side(frame) for frame in valid_frames]
  
          return sorted(valid_frames, key=lambda frame: frame['t_capture'])
  
      @staticmethod
      def _change_frame_side(detection_frame: Dict[str, List[Dict[str, Any]]]) -> Dict[str, List[Dict[str, Any]]]:
  
          for robot_obs in detection_frame.get('robots_blue', []) + detection_frame.get('robots_yellow', []):
              robot_obs['x'] *= -1
              robot_obs['orientation'] = wrap_to_pi(np.pi - robot_obs['orientation'])
  
          for ball_obs in detection_frame.get('balls', ()):
              ball_obs['x'] *= -1
  
          return detection_frame
  
      @staticmethod
      def _remove_ignored_side(frame):
          ignore_ball_in = Config()['ENGINE']['ignore_balls_in']
          if ignore_ball_in is None:
              return frame
  
          for label in ['robots_blue', 'robots_yellow', 'balls']:
              if label in frame:
                  frame[label] = [r for r in frame[label] if (ignore_ball_in == FieldSide.POSITIVE and r['x'] < 0) or (ignore_ball_in == FieldSide.NEGATIVE and r['x'] >= 0)]
  
          return frame
  
  
      def _is_valid_frame(self, frame):
          if frame:
              disabled_camera_id = config['ENGINE']['disabled_camera_id']
              cam_id = frame['camera_id']
              last_capture_time = self._camera_capture_time[cam_id]
              return frame['t_capture'] > last_capture_time and cam_id not in disabled_camera_id
  
      @property
      def _our_team(self):
          if self.our_color == 'yellow':
              our_team = self._yellow_team
          else:
              our_team = self._blue_team
          return our_team
  
      @property
      def _their_team(self):
          if self.our_color == 'yellow':
              their_team = self._blue_team
          else:
              their_team = self._yellow_team
          return their_team
  
      @property
      def active_robots(self):
          return {'blue': [robot for robot in self._blue_team if robot.is_active],
                  'yellow': [robot for robot in self._yellow_team if robot.is_active]}
  
      @property
      def active_balls(self):
          return [ball for ball in self._balls if ball.is_active]
  
      @property
      def inactive_balls(self):
          return [ball for ball in self._balls if not ball.is_active]
  
      @property
      def game_state(self) -> Dict[str, Union[float, List[Dict[str, Any]]]]:
          game_fields = dict()
          game_fields['timestamp'] = time()
          game_fields['blue'] = self.blue_team
          game_fields['yellow'] = self.yellow_team
          game_fields['balls'] = self.balls
          return game_fields
  
      @property
      def balls(self) -> List[Dict[str, Any]]:
          return Tracker._format_entities(sorted(self.active_balls, key=lambda b: b.first_update_time))
  
      @property
      def blue_team(self) -> List[Dict[str, Any]]:
          return Tracker._format_entities(self.active_robots['blue'])
  
      @property
      def yellow_team(self) -> List[Dict[str, Any]]:
          return Tracker._format_entities(self.active_robots['yellow'])
  
      @staticmethod
      def _format_entities(entities: Iterable[Union[RobotFilter, BallFilter]]) -> List[Dict[str, Any]]:
          formatted_list = []
          for entity in entities:
              fields = dict()
              if type(entity) is RobotFilter:
                  fields['pose'] = Pose.from_values(*entity.pose)
                  fields['velocity'] = Pose.from_values(*entity.velocity)
              elif type(entity) is BallFilter:
                  fields['position'] = Position(*entity.position)
                  fields['velocity'] = Position(*entity.velocity)
              else:
                  raise TypeError('Invalid type provided: {}'.format(type(entity)))
  
              fields['id'] = entity.id
              formatted_list.append(fields)
          return formatted_list
  
      def find_closest_ball_to_observation(self, obs: np.ndarray) -> BallFilter:
  
          if any(self.active_balls):
              balls_position = np.array([ball.position for ball in self.active_balls])
              dists = np.linalg.norm(balls_position - obs, axis=1)
              idx = np.argmin(dists).view(int)
              closest_ball = self.active_balls[idx]
              if dists[idx] > config['ENGINE']['max_ball_separation']:
                  if len(self.inactive_balls) > 0:
                      closest_ball = self.inactive_balls[0]
                      self.logger.debug('New ball detected: ID %d.', closest_ball.id)
                  else:
                      closest_ball = None
          else:
              closest_ball = self.inactive_balls[0]
              self.logger.debug('A ball was detected on the field.')
  
          return closest_ball
  
  
  