crease_defense_play_fsm.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "shared/constants.h"
#include "software/ai/hl/stp/play/play_fsm.h"
#include "software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic.h"
#include "software/logger/logger.h"
 
struct CreaseDefensePlayFSM
{
    class DefenseState;
 
    struct ControlParams
    {
        // The origin point of the enemy threat
        Point enemy_threat_origin;
        // The maximum allowed speed mode
        TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode;
    };
 
    DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    explicit CreaseDefensePlayFSM(TbotsProto::AiConfig ai_config);
 
    void defendDefenseArea(const Update& event);
 
    void setUpDefenders(unsigned int num_defenders);
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(DefenseState)
 
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_ACTION(defendDefenseArea)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *DefenseState_S + Update_E / defendDefenseArea_A = DefenseState_S,
            X + Update_E                                     = X);
    }
 
   private:
    TbotsProto::AiConfig ai_config;
    std::vector<std::shared_ptr<CreaseDefenderTactic>> crease_defenders;
};