Kickoff enemy play and kickoff friendly play to FSM with targeting changes

docs/fsm-diagrams.md

@@ -159,6 +159,34 @@ Terminate:::terminate --> Terminate:::terminate : <i>updateStop</i>
 
 ```
 
+## [KickoffEnemyPlayFSM](/src/software/ai/hl/stp/play/kickoff_enemy/kickoff_enemy_play_fsm.h)
+
+```mermaid
+
+stateDiagram-v2
+classDef terminate fill:white,color:black,font-weight:bold
+direction LR
+[*] --> SetupState
+SetupState --> SetupState : <i>kickoff</i>
+
+```
+
+## [KickoffFriendlyPlayFSM](/src/software/ai/hl/stp/play/kickoff_friendly/kickoff_friendly_play_fsm.h)
+
+```mermaid
+
+stateDiagram-v2
+classDef terminate fill:white,color:black,font-weight:bold
+direction LR
+[*] --> SetupState
+SetupState --> SetupState : [!isSetupDone]\n<i>setupKickoff</i>
+SetupState --> ChipState : [isSetupDone]
+ChipState --> ChipState : [!isPlaying]\n<i>chipBall</i>
+ChipState --> Terminate:::terminate : [isPlaying]
+Terminate:::terminate --> Terminate:::terminate
+
+```
+
 ## [OffensePlayFSM](/src/software/ai/hl/stp/play/offense/offense_play_fsm.h)
 
 ```mermaid

src/software/ai/hl/stp/play/BUILD

@@ -6,40 +6,6 @@ package(default_visibility = ["//visibility:public"])
 # "factory" design pattern to work are linked in
 # https://www.bfilipek.com/2018/02/static-vars-static-lib.html
 
-cc_library(
-    name = "kickoff_enemy_play",
-    srcs = ["kickoff_enemy_play.cpp"],
-    hdrs = ["kickoff_enemy_play.h"],
-    deps = [
-        ":play",
-        "//shared:constants",
-        "//software/ai/evaluation:enemy_threat",
-        "//software/ai/evaluation:possession",
-        "//software/ai/hl/stp/tactic/goalie:goalie_tactic",
-        "//software/ai/hl/stp/tactic/move:move_tactic",
-        "//software/ai/hl/stp/tactic/shadow_enemy:shadow_enemy_tactic",
-        "//software/logger",
-        "//software/util/generic_factory",
-    ],
-    alwayslink = True,
-)
-
-cc_library(
-    name = "kickoff_friendly_play",
-    srcs = ["kickoff_friendly_play.cpp"],
-    hdrs = ["kickoff_friendly_play.h"],
-    deps = [
-        ":play",
-        "//shared:constants",
-        "//software/ai/evaluation:enemy_threat",
-        "//software/ai/hl/stp/tactic/chip:chip_tactic",
-        "//software/ai/hl/stp/tactic/move:move_tactic",
-        "//software/logger",
-        "//software/util/generic_factory",
-    ],
-    alwayslink = True,
-)
-
 cc_library(
     name = "shoot_or_chip_play",
     srcs = ["shoot_or_chip_play.cpp"],
@@ -106,8 +72,6 @@ cc_library(
 cc_library(
     name = "all_plays",
     deps = [
-        ":kickoff_enemy_play",
-        ":kickoff_friendly_play",
         ":shoot_or_chip_play",
         ":stop_play",
         "//software/ai/hl/stp/play/ball_placement:ball_placement_play",
@@ -118,62 +82,15 @@ cc_library(
         "//software/ai/hl/stp/play/example:example_play",
         "//software/ai/hl/stp/play/free_kick:free_kick_play",
         "//software/ai/hl/stp/play/halt_play",
+        "//software/ai/hl/stp/play/kickoff_enemy:kickoff_enemy_play",
+        "//software/ai/hl/stp/play/kickoff_friendly:kickoff_friendly_play",
         "//software/ai/hl/stp/play/offense:offense_play",
         "//software/ai/hl/stp/play/penalty_kick:penalty_kick_play",
         "//software/ai/hl/stp/play/penalty_kick_enemy:penalty_kick_enemy_play",
         "//software/ai/hl/stp/play/shoot_or_pass:shoot_or_pass_play",
     ],
 )
 
-cc_test(
-    name = "kickoff_friendly_play_cpp_test",
-    srcs = ["kickoff_friendly_play_test.cpp"],
-    deps = [
-        "//shared/test_util:tbots_gtest_main",
-        "//software/ai/hl/stp/play:kickoff_friendly_play",
-        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
-        "//software/simulated_tests/non_terminating_validation_functions",
-        "//software/simulated_tests/terminating_validation_functions",
-        "//software/simulated_tests/validation:validation_function",
-        "//software/test_util",
-        "//software/time:duration",
-        "//software/world",
-    ],
-)
-
-cc_test(
-    name = "kickoff_enemy_play_cpp_test",
-    srcs = ["kickoff_enemy_play_test.cpp"],
-    deps = [
-        "//shared/test_util:tbots_gtest_main",
-        "//software/ai/hl/stp/play:kickoff_enemy_play",
-        "//software/geom/algorithms",
-        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
-        "//software/simulated_tests/non_terminating_validation_functions",
-        "//software/simulated_tests/terminating_validation_functions",
-        "//software/simulated_tests/validation:validation_function",
-        "//software/test_util",
-        "//software/time:duration",
-        "//software/world",
-    ],
-)
-
-py_test(
-    name = "kickoff_play_test",
-    srcs = [
-        "kickoff_play_test.py",
-    ],
-    # TODO (#2619) Remove tag to run in parallel
-    tags = [
-        "exclusive",
-    ],
-    deps = [
-        "//software:conftest",
-        "//software/simulated_tests:validation",
-        requirement("pytest"),
-    ],
-)
-
 cc_test(
     name = "stop_play_test",
     srcs = ["stop_play_test.cpp"],
@@ -274,3 +191,19 @@ py_test(
         requirement("pytest"),
     ],
 )
+
+py_test(
+    name = "kickoff_play_test",
+    srcs = [
+        "kickoff_play_test.py",
+    ],
+    # TODO (#2619) Remove tag to run in parallel
+    tags = [
+        "exclusive",
+    ],
+    deps = [
+        "//software:conftest",
+        "//software/simulated_tests:validation",
+        requirement("pytest"),
+    ],
+)

src/software/ai/hl/stp/play/kickoff_enemy/BUILD

@@ -0,0 +1,44 @@
+load("@simulated_tests_deps//:requirements.bzl", "requirement")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "kickoff_enemy_play",
+    srcs = [
+        "kickoff_enemy_play.cpp",
+        "kickoff_enemy_play_fsm.cpp",
+    ],
+    hdrs = [
+        "kickoff_enemy_play.h",
+        "kickoff_enemy_play_fsm.h",
+    ],
+    deps = [
+        "//shared:constants",
+        "//software/ai/evaluation:enemy_threat",
+        "//software/ai/evaluation:possession",
+        "//software/ai/hl/stp/play",
+        "//software/ai/hl/stp/tactic/goalie:goalie_tactic",
+        "//software/ai/hl/stp/tactic/move:move_tactic",
+        "//software/ai/hl/stp/tactic/shadow_enemy:shadow_enemy_tactic",
+        "//software/logger",
+        "//software/util/generic_factory",
+    ],
+    alwayslink = True,
+)
+
+# cc_test(
+#    name = "kickoff_enemy_play_cpp_test",
+#    srcs = ["kickoff_enemy_play_test.cpp"],
+#    deps = [
+#        "//shared/test_util:tbots_gtest_main",
+#        "//software/ai/hl/stp/play:kickoff_enemy_play",
+#        "//software/geom/algorithms",
+#        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
+#        "//software/simulated_tests/non_terminating_validation_functions",
+#        "//software/simulated_tests/terminating_validation_functions",
+#        "//software/simulated_tests/validation:validation_function",
+#        "//software/test_util",
+#        "//software/time:duration",
+#        "//software/world",
+#    ],
+#)

src/software/ai/hl/stp/play/kickoff_enemy/kickoff_enemy_play.cpp

@@ -0,0 +1,39 @@
+#include "software/ai/hl/stp/play/kickoff_enemy/kickoff_enemy_play.h"
+
+#include "proto/parameters.pb.h"
+#include "shared/constants.h"
+#include "software/util/generic_factory/generic_factory.h"
+
+KickoffEnemyPlay::KickoffEnemyPlay(
+    std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr)
+    : PlayBase<KickoffEnemyPlayFSM>(ai_config_ptr, false)
+{
+}
+
+void KickoffEnemyPlay::getNextTactics(TacticCoroutine::push_type &yield,
+                                      const WorldPtr &world_ptr)
+{
+    // Does not get called.
+    while (true)
+    {
+        yield({{}});
+    }
+}
+
+void KickoffEnemyPlay::updateTactics(const PlayUpdate &play_update)
+{
+    fsm.process_event(KickoffEnemyPlayFSM::Update(control_params, play_update));
+}
+
+std::vector<std::string> KickoffEnemyPlay::getState()
+{
+    std::vector<std::string> state;
+    state.emplace_back(objectTypeName(*this) + " - " + getCurrentFullStateName(fsm));
+    return state;
+}
+
+
+// Register this play in the genericFactory
+static TGenericFactory<std::string, Play, KickoffEnemyPlay,
+                       std::shared_ptr<const TbotsProto::AiConfig>>
+    factory;

src/software/ai/hl/stp/play/kickoff_enemy/kickoff_enemy_play.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include "proto/parameters.pb.h"
+#include "software/ai/hl/stp/play/kickoff_enemy/kickoff_enemy_play_fsm.h"
+#include "software/ai/hl/stp/play/play.h"
+#include "software/ai/hl/stp/play/play_base.hpp"
+#include "software/ai/hl/stp/play/play_fsm.hpp"
+
+/**
+ * A play that runs when its currently the enemy kick off.
+ */
+
+class KickoffEnemyPlay : public PlayBase<KickoffEnemyPlayFSM>
+{
+   public:
+    /**
+     * Creates an enemy kickoff play
+     *
+     * @param ai_config_ptr the play config for this play
+     */
+    explicit KickoffEnemyPlay(std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr);
+
+    void getNextTactics(TacticCoroutine::push_type &yield,
+                        const WorldPtr &world_ptr) override;
+    void updateTactics(const PlayUpdate &play_update) override;
+    std::vector<std::string> getState() override;
+};