goalie_tactic.h

#pragma once
 
#include "software/ai/hl/stp/tactic/goalie/goalie_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
 
class GoalieTactic : public Tactic
{
   public:
    explicit GoalieTactic(TbotsProto::AiConfig ai_config,
                          TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode =
                              TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT);
 
    GoalieTactic() = delete;
 
    void updateControlParams(bool should_move_to_goal_line);
 
    void accept(TacticVisitor &visitor) const override;
 
    DEFINE_TACTIC_DONE_AND_GET_FSM_STATE
 
   private:
    void updatePrimitive(const TacticUpdate &tactic_update, bool reset_fsm) override;
 
    std::map<RobotId, std::unique_ptr<FSM<GoalieFSM>>> fsm_map;
 
    TbotsProto::MaxAllowedSpeedMode max_allowed_speed_mode;
 
    GoalieFSM::ControlParams control_params;
    TbotsProto::AiConfig ai_config;
};