kick_fsm.h

#pragma once
 
#include "software/ai/hl/stp/tactic/get_behind_ball/get_behind_ball_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
 
struct KickFSM
{
   public:
    class KickState;
 
    struct ControlParams
    {
        // The location where the kick will be taken from
        Point kick_origin;
        // The direction the Robot will kick in
        Angle kick_direction;
        // How fast the Robot will kick the ball in meters per second
        double kick_speed_meters_per_second;
    };
 
    DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    void updateKick(const Update &event);
 
    void updateGetBehindBall(
        const Update &event,
        boost::sml::back::process<GetBehindBallFSM::Update> processEvent);
 
    bool ballChicked(const Update &event);
 
    bool shouldRealignWithBall(const Update &event);
 
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(GetBehindBallFSM)
        DEFINE_SML_STATE(KickState)
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_GUARD(ballChicked)
        DEFINE_SML_GUARD(shouldRealignWithBall)
        DEFINE_SML_ACTION(updateKick)
        DEFINE_SML_SUB_FSM_UPDATE_ACTION(updateGetBehindBall, GetBehindBallFSM)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *GetBehindBallFSM_S + Update_E / updateGetBehindBall_A,
            GetBehindBallFSM_S = KickState_S,
 
            KickState_S + Update_E[shouldRealignWithBall_G] / updateGetBehindBall_A =
                GetBehindBallFSM_S,
            KickState_S + Update_E[!ballChicked_G] / updateKick_A = KickState_S,
            KickState_S + Update_E[ballChicked_G] / SET_STOP_PRIMITIVE_ACTION = X,
            X + Update_E / SET_STOP_PRIMITIVE_ACTION                          = X);
    }
};