crease_defender_tactic.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "software/ai/evaluation/enemy_threat.h"
#include "software/ai/hl/stp/tactic/crease_defender/crease_defender_fsm.h"
#include "software/ai/hl/stp/tactic/dribble/dribble_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/geom/segment.h"
 
 
class CreaseDefenderTactic : public Tactic
{
   public:
    explicit CreaseDefenderTactic(TbotsProto::AiConfig ai_config);
 
    CreaseDefenderTactic() = delete;
 
    DEFINE_TACTIC_DONE_AND_GET_FSM_STATE
 
    void updateControlParams(
        const Point &enemy_threat_origin,
        const TbotsProto::CreaseDefenderAlignment &alignment,
        TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode =
            TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT,
        TbotsProto::BallStealMode ball_steal_mode = TbotsProto::BallStealMode::STEAL);
 
    void accept(TacticVisitor &visitor) const override;
 
   private:
    void updatePrimitive(const TacticUpdate &tactic_update, bool reset_fsm) override;
 
    std::map<RobotId, std::unique_ptr<FSM<CreaseDefenderFSM>>> fsm_map;
    CreaseDefenderFSM::ControlParams control_params;
    TbotsProto::AiConfig ai_config;
};