enemy_free_kick_play_fsm.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "software/ai/hl/stp/play/defense/defense_play_base.h"
#include "software/ai/hl/stp/play/play.h"
#include "software/ai/hl/stp/tactic/pass_defender/pass_defender_tactic.h"
 
struct EnemyFreeKickPlayFSM : public DefensePlayFSMBase
{
    class BlockEnemyKickerState;
 
    static constexpr double TOO_CLOSE_THRESHOLD_METERS = 0.1;
 
    explicit EnemyFreeKickPlayFSM(TbotsProto::AiConfig ai_config);
 
    void blockEnemyKicker(const Update &event);
 
    void setTactics(const Update &event, unsigned int num_tactics);
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(BlockEnemyKickerState)
 
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_ACTION(blockEnemyKicker)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *BlockEnemyKickerState_S + Update_E / blockEnemyKicker_A =
                BlockEnemyKickerState_S,
            X + Update_E = X);
    }
};