offense_play_fsm.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "shared/constants.h"
#include "software/ai/evaluation/possession.h"
#include "software/ai/hl/stp/play/defense/defense_play.h"
#include "software/ai/hl/stp/play/play_fsm.h"
#include "software/ai/hl/stp/play/shoot_or_pass/shoot_or_pass_play.h"
#include "software/logger/logger.h"
 
struct OffensePlayFSM
{
    class OffensiveState;
    class DefensiveState;
 
    struct ControlParams
    {
    };
 
    DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    explicit OffensePlayFSM(TbotsProto::AiConfig ai_config);
 
    bool enemyHasPossession(const Update& event);
 
    void setupOffensiveStrategy(const Update& event);
 
    void setupDefensiveStrategy(const Update& event);
 
    void setTactics(const Update& event, int num_shoot_or_pass, int num_defenders);
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(OffensiveState)
        DEFINE_SML_STATE(DefensiveState)
 
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_GUARD(enemyHasPossession)
 
        DEFINE_SML_ACTION(setupOffensiveStrategy)
        DEFINE_SML_ACTION(setupDefensiveStrategy)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *OffensiveState_S + Update_E[enemyHasPossession_G] /
                                    setupDefensiveStrategy_A       = DefensiveState_S,
            OffensiveState_S + Update_E / setupOffensiveStrategy_A = OffensiveState_S,
            DefensiveState_S + Update_E[!enemyHasPossession_G] /
                                   setupOffensiveStrategy_A        = OffensiveState_S,
            DefensiveState_S + Update_E / setupDefensiveStrategy_A = DefensiveState_S,
            X + Update_E                                           = X);
    }
 
   private:
    TbotsProto::AiConfig ai_config;
    std::shared_ptr<ShootOrPassPlay> shoot_or_pass_play;
    std::shared_ptr<DefensePlay> defense_play;
};