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

docs/useful-robot-commands.md

@@ -5,10 +5,6 @@
 <!--TOC-->
 
 - [Table of Contents](#table-of-contents)
-- [Common Debugging Steps](#common-debugging-steps)
-- [Off Robot Commands](#off-robot-commands)
-  - [Wifi Disclaimer](#wifi-disclaimer)
-  - [Miscellaneous Ansible Tasks & Options](#miscellaneous-ansible-tasks--options)
   - [Flashing the robot's compute module](#flashing-the-robots-compute-module)
   - [Flashing the powerboard](#flashing-the-powerboard)
   - [Setting up the embedded host](#setting-up-the-embedded-host)
@@ -22,26 +18,6 @@
   - [Debugging Uart](#debugging-uart)
 
 <!--TOC-->
-
-# Common Debugging Steps
-```mermaid
----
-title: Robot Debugging Steps
----
-flowchart TD
-    ssh("Can you SSH into the robot? 
-        `ssh robot@192.168.5.20RobotID` OR `ssh robot@robot_name.local`
-        e.g. `ssh robot@192.168.5.203` or `ssh robot@robert.local`
-        for a robot called robert with robot id 3")
-    ssh ---> |Yes| tloop_status
-    ssh --> |No - Second Try| monitor("Connect Pi to an external monitor and check wifi connection or SSH using an ethernet cable")
-    ssh --> |No - First Try| restart(Restart robot)
-    restart --> ssh
-
-    diagnostics("`Run Diagnostics while connected to '**tbots**' wifi`") --> robot_view
-    robot_view(Robot is shown as connected in 'Robot View' widget?) --> |Yes| check_motors(All motors move?)
-    style diagnostics stroke:#f66,stroke-width:2px,stroke-dasharray: 5 5
-
     check_motors -->|Yes| field_test(Running AI?)
     field_test -->|No| done(Done)
     style done stroke:#30fa02,stroke-width:2px,stroke-dasharray: 5 5

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 = "stop_play",
     srcs = ["stop_play.cpp"],
@@ -82,8 +48,6 @@ cc_library(
 cc_library(
     name = "all_plays",
     deps = [
-        ":kickoff_enemy_play",
-        ":kickoff_friendly_play",
         ":stop_play",
         "//software/ai/hl/stp/play/ball_placement:ball_placement_play",
         "//software/ai/hl/stp/play/crease_defense:crease_defense_play",
@@ -93,6 +57,8 @@ 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",
@@ -101,39 +67,6 @@ 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/cpp_validation:validation_function",
-        "//software/simulated_tests/non_terminating_validation_functions",
-        "//software/simulated_tests/terminating_validation_functions",
-        "//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/cpp_validation:validation_function",
-        "//software/simulated_tests/non_terminating_validation_functions",
-        "//software/simulated_tests/terminating_validation_functions",
-        "//software/test_util",
-        "//software/time:duration",
-        "//software/world",
-    ],
-)
-
 py_test(
     name = "kickoff_play_test",
     srcs = [

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:kickoff_enemy_play",
+        "//software/geom/algorithms",
+        "//software/simulated_tests:simulated_er_force_sim_play_test_fixture",
+        "//software/simulated_tests/cpp_validation:validation_function",
+        "//software/simulated_tests/non_terminating_validation_functions",
+        "//software/simulated_tests/terminating_validation_functions",
+        "//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 "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.
+}
+
+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;
+};