enemy_ball_placement_play_fsm.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "shared/constants.h"
#include "software/ai/hl/stp/play/play.h"
#include "software/ai/hl/stp/tactic/crease_defender/crease_defender_tactic.h"
#include "software/ai/hl/stp/tactic/goalie/goalie_tactic.h"
#include "software/ai/hl/stp/tactic/move/move_tactic.h"
#include "software/geom/algorithms/contains.h"
#include "software/geom/algorithms/distance.h"
#include "software/geom/stadium.h"
#include "software/world/game_state.h"
 
struct EnemyBallPlacementPlayFSM
{
    class WaitState;
    class AvoidState;
    class DefenseState;
 
    struct ControlParams
    {
    };
 
    DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    explicit EnemyBallPlacementPlayFSM(TbotsProto::AiConfig ai_config);
 
    bool hasPlacementPoint(const Update& event);
 
    void setPlacementPoint(const Update& event);
 
    bool isNearlyPlaced(const Update& event);
 
    void avoid(const Update& event);
 
    void enterDefensiveFormation(const Update& event);
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(WaitState)
        DEFINE_SML_STATE(AvoidState)
        DEFINE_SML_STATE(DefenseState)
 
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_ACTION(setPlacementPoint)
        DEFINE_SML_ACTION(avoid)
        DEFINE_SML_ACTION(enterDefensiveFormation)
 
        DEFINE_SML_GUARD(hasPlacementPoint)
        DEFINE_SML_GUARD(isNearlyPlaced)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *WaitState_S + Update_E[hasPlacementPoint_G] / setPlacementPoint_A =
                AvoidState_S,
            WaitState_S + Update_E[!hasPlacementPoint_G] = WaitState_S,
 
            AvoidState_S + Update_E[!isNearlyPlaced_G] / avoid_A = AvoidState_S,
            AvoidState_S + Update_E[isNearlyPlaced_G]            = DefenseState_S,
 
            DefenseState_S + Update_E[isNearlyPlaced_G] / enterDefensiveFormation_A =
                DefenseState_S,
            DefenseState_S + Update_E[!isNearlyPlaced_G] = AvoidState_S);
    }
 
   private:
    TbotsProto::AiConfig ai_config;
    std::array<std::shared_ptr<CreaseDefenderTactic>, 2> crease_defender_tactics;
    std::array<std::shared_ptr<AvoidInterferenceTactic>, 6> avoid_interference_tactics;
    std::array<std::shared_ptr<MoveTactic>, 3> move_tactics;
    std::shared_ptr<GoalieTactic> goalie_tactic;
 
    Point placement_point;
    double distance_to_keep_meters;
    double nearly_placed_threshold_meters;  // Threshold for the ball to be considered
                                            // nearly placed
};