pass_defender_fsm.h

#pragma once
 
#include "proto/tactic.pb.h"
#include "shared/constants.h"
#include "software/ai/hl/stp/tactic/defender/defender_fsm_base.h"
#include "software/ai/hl/stp/tactic/dribble/dribble_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/logger/logger.h"
 
struct PassDefenderFSM : public DefenderFSMBase
{
    class BlockPassState;
    class InterceptBallState;
 
    // This struct defines the unique control parameters that the PassDefenderFSM requires
    // in its update
    struct ControlParams
    {
        // The location on the field to block enemy passes from
        Point position_to_block_from;
        // The pass defender's aggressiveness towards the ball
        TbotsProto::BallStealMode ball_steal_mode;
    };
 
    explicit PassDefenderFSM(const TbotsProto::AiConfig& ai_config)
        : pass_defender_config(ai_config.pass_defender_config())
    {
    }
 
 
    DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    // The minimum speed of the ball for it to be considered a pass
    static constexpr double MIN_PASS_SPEED = 0.5;
 
    // The maximum angle difference to determine if ball has been kicked in
    // the approximate direction of the defender
    static constexpr Angle MAX_PASS_ANGLE_DIFFERENCE = Angle::fromDegrees(30);
 
    // The minimum angle difference between a ball's trajectory and
    // pass_orientation for which we can consider a pass to be deflected
    static constexpr Angle MIN_DEFLECTION_ANGLE = Angle::fromDegrees(30);
 
    bool passStarted(const Update& event);
 
    bool ballDeflected(const Update& event);
 
    void blockPass(const Update& event);
 
    void interceptBall(const Update& event);
 
    bool ballNearbyWithoutThreat(const Update& event);
 
    void prepareGetPossession(const Update& event,
                              boost::sml::back::process<DribbleFSM::Update> processEvent);
 
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(BlockPassState)
        DEFINE_SML_STATE(InterceptBallState)
 
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_GUARD(passStarted)
        DEFINE_SML_GUARD(ballDeflected)
 
        DEFINE_SML_ACTION(blockPass)
        DEFINE_SML_ACTION(interceptBall)
 
        DEFINE_SML_STATE(DribbleFSM)
        DEFINE_SML_GUARD(ballNearbyWithoutThreat)
        DEFINE_SML_SUB_FSM_UPDATE_ACTION(prepareGetPossession, DribbleFSM)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *BlockPassState_S + Update_E[passStarted_G] / interceptBall_A =
                InterceptBallState_S,
            BlockPassState_S + Update_E / blockPass_A,
            InterceptBallState_S + Update_E[ballDeflected_G] / blockPass_A =
                BlockPassState_S,
            InterceptBallState_S + Update_E[ballNearbyWithoutThreat_G] /
                                       prepareGetPossession_A = DribbleFSM_S,
            DribbleFSM_S + Update_E[!ballNearbyWithoutThreat_G] / blockPass_A =
                BlockPassState_S,
            DribbleFSM_S + Update_E / prepareGetPossession_A,
            InterceptBallState_S + Update_E / interceptBall_A,
            X + Update_E / SET_STOP_PRIMITIVE_ACTION = X);
    }
 
   private:
    Angle pass_orientation;
    TbotsProto::PassDefenderConfig pass_defender_config;
};