assigned_tactics_play.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "software/ai/hl/stp/play/play.h"
 
class AssignedTacticsPlay : public Play
{
   public:
    AssignedTacticsPlay(TbotsProto::AiConfig config);
 
    void getNextTactics(TacticCoroutine::push_type &yield,
                        const WorldPtr &world_ptr) override;
    void updateTactics(const PlayUpdate &play_update) override;
 
    void updateControlParams(
        std::map<RobotId, std::shared_ptr<Tactic>> assigned_tactics,
        std::map<RobotId, std::set<TbotsProto::MotionConstraint>> motion_constraints =
            std::map<RobotId, std::set<TbotsProto::MotionConstraint>>());
 
    std::unique_ptr<TbotsProto::PrimitiveSet> get(
        const WorldPtr &world_ptr, const InterPlayCommunication &,
        const SetInterPlayCommunicationCallback &) override;
 
   private:
    std::map<RobotId, std::shared_ptr<Tactic>> assigned_tactics;
    std::map<RobotId, std::set<TbotsProto::MotionConstraint>> override_motion_constraints;
    RobotNavigationObstacleFactory obstacle_factory;
};