pivot_kick_fsm.h

#pragma once
 
#include "software/ai/hl/stp/tactic/dribble/dribble_fsm.h"
#include "software/ai/hl/stp/tactic/move/move_fsm.h"
#include "software/ai/hl/stp/tactic/tactic.h"
#include "software/logger/logger.h"
 
struct PivotKickFSM
{
    class KickState;
    class StartState;
 
    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 the robot will chip or kick the ball
        AutoChipOrKick auto_chip_or_kick;
    };
 
    // this struct defines the only event that the PivotKickFSM responds to
    DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
    void getPossessionAndPivot(
        const Update& event, boost::sml::back::process<DribbleFSM::Update> processEvent);
 
    void kickBall(const Update& event);
 
    bool ballKicked(const Update& event);
 
    auto operator()()
    {
        using namespace boost::sml;
 
        DEFINE_SML_STATE(StartState)
        DEFINE_SML_STATE(KickState)
        DEFINE_SML_STATE(DribbleFSM)
        DEFINE_SML_EVENT(Update)
 
        DEFINE_SML_GUARD(ballKicked)
        DEFINE_SML_SUB_FSM_UPDATE_ACTION(getPossessionAndPivot, DribbleFSM)
        DEFINE_SML_ACTION(kickBall)
 
        return make_transition_table(
            // src_state + event [guard] / action = dest_state
            *StartState_S + Update_E / getPossessionAndPivot_A = DribbleFSM_S,
            DribbleFSM_S + Update_E / getPossessionAndPivot_A, DribbleFSM_S = KickState_S,
            KickState_S + Update_E[!ballKicked_G] / kickBall_A,
            KickState_S + Update_E[ballKicked_G] / SET_STOP_PRIMITIVE_ACTION = X,
            X + Update_E / SET_STOP_PRIMITIVE_ACTION                         = X);
    }
};