defense_play_fsm.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "shared/constants.h"
#include "software/ai/hl/stp/play/defense/defense_play_base.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"
 
struct DefensePlayFSM : public DefensePlayFSMBase
{
    class DefenseState;
 
    explicit DefensePlayFSM(TbotsProto::AiConfig ai_config);
 
    void defendAgainstThreats(const Update& event);
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(DefenseState)
 
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_ACTION(defendAgainstThreats)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *DefenseState_S + Update_E / defendAgainstThreats_A = DefenseState_S,
            X + Update_E                                        = X);
    }
};