defender_fsm_base.h

#pragma once
 
#include "proto/tactic.pb.h"
#include "shared/constants.h"
#include "software/ai/hl/stp/tactic/dribble/dribble_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/logger/logger.h"
 
struct DefenderFSMBase
{
    static bool ballNearbyWithoutThreat(
        const WorldPtr& world_ptr, const Robot& robot,
        const TbotsProto::BallStealMode& ball_steal_mode,
        const TbotsProto::DefenderStealConfig& defender_steal_config);
    static void prepareGetPossession(
        const TacticUpdate& tactic_update,
        boost::sml::back::process<DribbleFSM::Update> processEvent);
};