penalty_kick_enemy_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/goalie/goalie_tactic.h"
#include "software/ai/hl/stp/tactic/move/move_tactic.h"
#include "software/logger/logger.h"
 
struct PenaltyKickEnemyPlayFSM
{
    class SetupPositionState;
    class DefendKickState;
 
    struct ControlParams
    {
        // The goalie tactic common to all plays
        std::shared_ptr<GoalieTactic> goalie_tactic;
    };
 
    DEFINE_PLAY_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    explicit PenaltyKickEnemyPlayFSM(TbotsProto::AiConfig ai_config);
 
    void setupPosition(const Update& event);
 
    void defendKick(const Update& event);
 
    bool setupPositionDone(const Update& event);
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(SetupPositionState)
        DEFINE_SML_STATE(DefendKickState)
 
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_ACTION(setupPosition)
        DEFINE_SML_ACTION(defendKick)
 
        DEFINE_SML_GUARD(setupPositionDone)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *SetupPositionState_S + Update_E[!setupPositionDone_G] / setupPosition_A =
                SetupPositionState_S,
            SetupPositionState_S + Update_E[setupPositionDone_G] / defendKick_A =
                DefendKickState_S,
            DefendKickState_S + Update_E / defendKick_A, X + Update_E = X);
    }
 
   private:
    TbotsProto::AiConfig ai_config;
    std::vector<std::shared_ptr<MoveTactic>> move_tactics;
};