possession_tracker.h

#pragma once
 
#include "proto/parameters.pb.h"
#include "software/time/duration.h"
#include "software/time/timestamp.h"
#include "software/world/ball.h"
#include "software/world/field.h"
#include "software/world/team.h"
 
class PossessionTracker
{
   public:
    explicit PossessionTracker(const TbotsProto::PossessionTrackerConfig &config);
 
    TeamPossession getTeamWithPossession(const Team &friendly_team,
                                         const Team &enemy_team, const Ball &ball,
                                         const Field &field);
 
   private:
    // Max distance in meters between robot and ball for robot
    // to be considered near the ball
    double distance_near_tolerance_meters;
 
    // Min distance in meters between robot and ball for robot
    // to be considered far away from the ball
    double distance_far_tolerance_meters;
 
    // Min time that robot must stay close to ball for it to be considered near
    Duration time_near_threshold;
 
    // Min time that robot must stay away from ball for it to be considered far away
    Duration time_far_threshold;
 
    // The timestamp of last game snapshot the PossessionTracker was updated with
    Timestamp last_timestamp;
 
    // The amount of time that the friendly team has spent near the ball
    Duration time_near_friendly;
 
    // The amount of time that the enemy team has spent near the ball
    Duration time_near_enemy;
 
    // The amount of time that the friendly team has spent far away from the ball
    Duration time_far_friendly;
 
    // The amount of time that the enemy team has spent far away from the ball
    Duration time_far_enemy;
 
    // The team currently with possession of the ball
    TeamPossession possession;
 
    void updateTimes(const Team &friendly_team, const Team &enemy_team, const Ball &ball,
                     const Field &field);
};