world.h

#pragma once
 
 
#include <boost/circular_buffer.hpp>
 
#include "software/world/ball.h"
#include "software/world/field.h"
#include "software/world/game_state.h"
#include "software/world/team.h"
 
class World final
{
   public:
    World() = delete;
 
    explicit World(const Field& field, const Ball& ball, const Team& friendly_team,
                   const Team& enemy_team, unsigned int buffer_size = 20);
 
    explicit World(const TbotsProto::World& world_proto);
 
    void updateBall(const Ball& new_ball);
 
    void updateFriendlyTeamState(const Team& new_friendly_team_data);
 
    void updateEnemyTeamState(const Team& new_enemy_team_data);
 
    void updateRefereeCommand(const RefereeCommand& command);
 
    void updateRefereeCommand(const RefereeCommand& command, Point ball_placement_point);
 
    void updateRefereeStage(const RefereeStage& stage);
 
    const Field& field() const;
 
    const Ball& ball() const;
 
    const Team& friendlyTeam() const;
 
    const Team& enemyTeam() const;
 
    const GameState& gameState() const;
 
    void updateGameState(const GameState& game_state);
 
    void updateGameStateBall(const Ball& ball);
 
    const RefereeStage& getRefereeStage() const;
 
    const Timestamp getMostRecentTimestamp() const;
 
    void updateTimestamp(Timestamp timestamp);
 
    void setTeamWithPossession(TeamPossession possession);
 
    TeamPossession getTeamWithPossession() const;
 
    bool operator==(const World& other) const;
 
    bool operator!=(const World& other) const;
 
    // The size of the referee history buffers to filter out noise with
    static constexpr unsigned int REFEREE_COMMAND_BUFFER_SIZE = 3;
    void setDribbleDisplacement(const std::optional<Segment>& displacement);
 
    const std::optional<Segment>& getDribbleDisplacement() const;
 
 
   private:
    Timestamp getMostRecentTimestampFromMembers();
 
    // Segment representing the displacement of the ball (in metres) due to
    // the friendly team continuously dribbling the ball across the field
    std::optional<Segment> dribble_displacement_;
 
    Field field_;
    Ball ball_;
    Team friendly_team_;
    Team enemy_team_;
    GameState current_game_state_;
    RefereeStage current_referee_stage_;
    Timestamp last_update_timestamp_;
    // A small buffer that stores previous referee command
    boost::circular_buffer<RefereeCommand> referee_command_history_;
    // A small buffer that stores previous referee stage
    boost::circular_buffer<RefereeStage> referee_stage_history_;
    // which team has possession of the ball
    TeamPossession team_with_possession_;
};
 
using WorldPtr = std::shared_ptr<const World>;