attacker_tactic.h

#pragma once
 
#include "software/ai/hl/stp/tactic/attacker/attacker_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/ai/passing/pass.h"
 
class AttackerTactic : public Tactic
{
   public:
    explicit AttackerTactic(TbotsProto::AiConfig ai_config);
 
    AttackerTactic() = delete;
 
    void updateControlParams(const Pass& best_pass_so_far, bool pass_committed);
 
    void updateControlParams(std::optional<Point> chip_target);
 
    void accept(TacticVisitor& visitor) const override;
 
    DEFINE_TACTIC_DONE_AND_GET_FSM_STATE
 
   private:
    void updatePrimitive(const TacticUpdate& tactic_update, bool reset_fsm) override;
 
    void visualizeControlParams(const World& world,
                                const AttackerFSM::ControlParams& control_params);
 
    std::map<RobotId, std::unique_ptr<FSM<AttackerFSM>>> fsm_map;
 
    // The pass to execute
    std::optional<Pass> best_pass_so_far;
    // whether we have committed to the above pass
    bool pass_committed;
    // The point the robot will chip towards if it is unable to shoot and is in danger
    // of losing the ball to an enemy
    std::optional<Point> chip_target;
 
    // AI config
    TbotsProto::AiConfig ai_config;
};