halt_play_fsm.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "shared/constants.h"
#include "software/ai/hl/stp/play/play_fsm.h"
#include "software/ai/hl/stp/tactic/halt/halt_tactic.h"
#include "software/logger/logger.h"
 
struct HaltPlayFSM
{
    struct ControlParams
    {
    };
    class HaltState;
 
    DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    explicit HaltPlayFSM(TbotsProto::AiConfig ai_config);
 
    void updateStop(const Update& event);
 
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(HaltState)
 
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_ACTION(updateStop)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *HaltState_S + Update_E / updateStop_A = HaltState_S,
 
            X + Update_E / updateStop_A = X);
    }
 
   private:
    PriorityTacticVector halt_tactics;
};