Kickoff friendly play fsm cleaned

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"],
@@ -105,8 +71,6 @@ 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",
@@ -116,6 +80,8 @@ cc_library(
         "//software/ai/hl/stp/play/enemy_free_kick:enemy_free_kick_play",
         "//software/ai/hl/stp/play/example:example_play",
         "//software/ai/hl/stp/play/free_kick:free_kick_play",
+        "//software/ai/hl/stp/play/kickoff_friendly:kickoff_friendly_play",
+        "//software/ai/hl/stp/play/kickoff_enemy:kickoff_enemy_play",
         "//software/ai/hl/stp/play/halt_play",
         "//software/ai/hl/stp/play/hardware_challenge_plays:dribbling_parcour_play",
         "//software/ai/hl/stp/play/hardware_challenge_plays:pass_endurance_play",
@@ -128,54 +94,9 @@ cc_library(
     ],
 )
 
-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",
@@ -277,3 +198,19 @@ 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/enemy_free_kick/enemy_free_kick_play_test.py

@@ -94,6 +94,10 @@
         ),
     ],
 )
+# TODO: #3503
+@pytest.mark.skip(
+    "Disabling this test because OrValidation is passed both an always validation and eventually validation"
+)
 def test_enemy_free_kick_play(
     simulated_test_runner, blue_bots, yellow_bots, ball_initial_pos
 ):

src/software/ai/hl/stp/play/example/example_play_test.py

@@ -82,10 +82,10 @@ def setup(*args):
         inv_eventually_validation_sequence_set=[
             [
                 NumberOfRobotsEventuallyEntersRegion(
-                    region=tbots_cpp.Circle(ball_initial_pos, 1.1), req_robot_cnt=6
+                    regions=[tbots_cpp.Circle(ball_initial_pos, 1.1)], req_robot_cnt=6
                 ),
                 NumberOfRobotsEventuallyExitsRegion(
-                    region=tbots_cpp.Circle(ball_initial_pos, 0.9), req_robot_cnt=6
+                    regions=[tbots_cpp.Circle(ball_initial_pos, 0.9)], req_robot_cnt=6
                 ),
             ]
         ],

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

@@ -0,0 +1,60 @@
+package(default_visibility = ["//visibility:public"])
+
+load("@simulated_tests_deps//:requirements.bzl", "requirement")
+
+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 = [
+        "//software/ai/hl/stp/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,
+)
+
+py_test(
+    name = "kickoff_enemy_play_test",
+    srcs = [
+        "kickoff_enemy_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 = "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 +1,35 @@
+#include "software/ai/hl/stp/play/kickoff_enemy/kickoff_enemy_play.h"
+
+#include "shared/constants.h"
+#include "software/util/generic_factory/generic_factory.h"
+
+KickoffEnemyPlay::KickoffEnemyPlay(TbotsProto::AiConfig config)
+        : Play(config, true), fsm{KickoffEnemyPlayFSM{config}}, control_params{}
+{
+}
+
+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, TbotsProto::AiConfig> factory;

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

@@ -0,0 +1,29 @@
+#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"
+
+/**
+ * A play that runs when its currently the enemy kick off.
+ */
+
+class KickoffEnemyPlay : public Play
+{
+public:
+    /**
+    * Creates an enemy kickoff play
+    *
+    * @param ai_config the play config for this play
+    */
+    KickoffEnemyPlay(TbotsProto::AiConfig config);
+
+    void getNextTactics(TacticCoroutine::push_type &yield,
+                        const WorldPtr &world_ptr) override;
+    void updateTactics(const PlayUpdate &play_update) override;
+    std::vector<std::string> getState() override;
+
+private:
+    FSM<KickoffEnemyPlayFSM> fsm;
+    KickoffEnemyPlayFSM::ControlParams control_params;
+};