defense_play_base.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "shared/constants.h"
#include "software/ai/evaluation/defender_assignment.h"
#include "software/ai/hl/stp/play/play_fsm.h"
#include "software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic.h"
#include "software/ai/hl/stp/tactic/pass_defender/pass_defender_tactic.h"
#include "software/logger/logger.h"
 
class DefensePlayFSMBase
{
   public:
    struct ControlParams
    {
        // The maximum allowed speed mode
        TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode;
    };
 
    DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    explicit DefensePlayFSMBase(TbotsProto::AiConfig ai_config);
 
   protected:
    void setUpCreaseDefenders(int num_crease_defenders);
 
    void setUpPassDefenders(int num_pass_defenders);
 
    void setAlignment(const Update &event,
                      const std::vector<DefenderAssignment> &crease_defender_assignments,
                      TbotsProto::BallStealMode ball_steal_mode);
 
    void updatePassDefenderControlParams(
        std::vector<DefenderAssignment> &pass_defender_assignments,
        TbotsProto::BallStealMode ball_steal_mode);
 
    TbotsProto::AiConfig ai_config;
    std::vector<std::shared_ptr<CreaseDefenderTactic>> crease_defenders;
    std::vector<std::shared_ptr<PassDefenderTactic>> pass_defenders;
};