[pre-commit.ci lite] apply automatic fixes

Author: pre-commit-ci-lite[bot]

docs/fsm-diagrams.md

@@ -218,7 +218,9 @@ classDef terminate fill:white,color:black,font-weight:bold
 direction LR
 [*] --> DribbleFSM
 DribbleFSM --> PivotKickFSM : [shouldKick]\n<i>pivotKick</i>
-DribbleFSM --> DribbleFSM : [!shouldKick]\n<i>keepAway</i>
+DribbleFSM --> KeepAwayFSM : [!shouldKick]\n<i>keepAway</i>
+KeepAwayFSM --> KeepAwayFSM : <i>keepAway</i>
+KeepAwayFSM --> DribbleFSM
 PivotKickFSM --> PivotKickFSM : <i>pivotKick</i>
 PivotKickFSM --> Terminate:::terminate
 Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</i>
@@ -342,6 +344,20 @@ Terminate:::terminate --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
 
 ```
 
+## [KeepAwayFSM](/src/software/ai/hl/stp/tactic/keep_away/keep_away_fsm.h)
+
+```mermaid
+
+stateDiagram-v2
+classDef terminate fill:white,color:black,font-weight:bold
+direction LR
+[*] --> DribbleFSM
+DribbleFSM --> DribbleFSM : <i>keepAway</i>
+DribbleFSM --> Terminate:::terminate
+Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</i>
+
+```
+
 ## [KickFSM](/src/software/ai/hl/stp/tactic/kick/kick_fsm.h)
 
 ```mermaid

src/software/ai/hl/stp/tactic/attacker/attacker_fsm.cpp

@@ -42,15 +42,13 @@ void AttackerFSM::pivotKick(const Update& event,
 
 
 void AttackerFSM::keepAway(const Update& event,
-              boost::sml::back::process<KeepAwayFSM::Update> processEvent) {
-
-    KeepAwayFSM::ControlParams control_params{
-        .best_pass_so_far = event.control_params.best_pass_so_far
-    };
+                           boost::sml::back::process<KeepAwayFSM::Update> processEvent)
+{
+    KeepAwayFSM::ControlParams control_params{.best_pass_so_far =
+                                                  event.control_params.best_pass_so_far};
 
     processEvent(KeepAwayFSM::Update(control_params, event.common));
-
-  }
+}
 
 
 bool AttackerFSM::shouldKick(const Update& event)

src/software/ai/hl/stp/tactic/attacker/attacker_fsm.h

@@ -4,8 +4,8 @@
 #include "software/ai/evaluation/keep_away.h"
 #include "software/ai/evaluation/shot.h"
 #include "software/ai/hl/stp/tactic/chip/chip_fsm.h"
-#include "software/ai/hl/stp/tactic/pivot_kick/pivot_kick_fsm.h"
 #include "software/ai/hl/stp/tactic/keep_away/keep_away_fsm.h"
+#include "software/ai/hl/stp/tactic/pivot_kick/pivot_kick_fsm.h"
 #include "software/ai/hl/stp/tactic/tactic.h"
 #include "software/ai/passing/pass.h"
 
@@ -79,9 +79,8 @@ struct AttackerFSM
 
         return make_transition_table(
             *DribbleFSM_S + Update_E[shouldKick_G] / pivotKick_A = PivotKickFSM_S,
-            DribbleFSM_S + Update_E[!shouldKick_G] / keepAway_A = KeepAwayFSM_S,
-            KeepAwayFSM_S + Update_E / keepAway_A,
-            KeepAwayFSM_S = DribbleFSM_S,
+            DribbleFSM_S + Update_E[!shouldKick_G] / keepAway_A  = KeepAwayFSM_S,
+            KeepAwayFSM_S + Update_E / keepAway_A, KeepAwayFSM_S    = DribbleFSM_S,
             PivotKickFSM_S + Update_E / pivotKick_A, PivotKickFSM_S = X,
             X + Update_E / SET_STOP_PRIMITIVE_ACTION = X);
     }

src/software/ai/hl/stp/tactic/attacker/attacker_fsm_test.cpp

@@ -16,8 +16,8 @@ TEST(AttackerFSMTest, test_transitions)
                                               .chip_target      = std::nullopt};
 
     TbotsProto::AiConfig ai_config;
-    FSM<AttackerFSM> fsm{DribbleFSM(ai_config.dribble_tactic_config()), KeepAwayFSM(ai_config),
-                         AttackerFSM(ai_config)};
+    FSM<AttackerFSM> fsm{DribbleFSM(ai_config.dribble_tactic_config()),
+                         KeepAwayFSM(ai_config), AttackerFSM(ai_config)};
     EXPECT_TRUE(fsm.is(boost::sml::state<DribbleFSM>));
 
     // robot far from attacker point

src/software/ai/hl/stp/tactic/attacker/attacker_tactic.cpp

@@ -17,7 +17,8 @@ AttackerTactic::AttackerTactic(TbotsProto::AiConfig ai_config)
     for (RobotId id = 0; id < MAX_ROBOT_IDS; id++)
     {
         fsm_map[id] = std::make_unique<FSM<AttackerFSM>>(
-            DribbleFSM(ai_config.dribble_tactic_config()), KeepAwayFSM(ai_config), AttackerFSM(ai_config));
+            DribbleFSM(ai_config.dribble_tactic_config()), KeepAwayFSM(ai_config),
+            AttackerFSM(ai_config));
     }
 }
 
@@ -44,7 +45,8 @@ void AttackerTactic::updatePrimitive(const TacticUpdate& tactic_update, bool res
     if (reset_fsm)
     {
         fsm_map[tactic_update.robot.id()] = std::make_unique<FSM<AttackerFSM>>(
-            DribbleFSM(ai_config.dribble_tactic_config()), KeepAwayFSM(ai_config), AttackerFSM(ai_config));
+            DribbleFSM(ai_config.dribble_tactic_config()), KeepAwayFSM(ai_config),
+            AttackerFSM(ai_config));
     }
 
     std::optional<Shot> shot = calcBestShotOnGoal(

src/software/ai/hl/stp/tactic/keep_away/keep_away_fsm.h

@@ -7,41 +7,40 @@
 struct KeepAwayFSM
 {
     /**
-   * Constructor for KeepAwayFSM
-   *
-   * @param ai_config The config to fetch parameters from
-   */
-    explicit KeepAwayFSM(const TbotsProto::AiConfig& ai_config) : ai_config(ai_config) {};
+     * Constructor for KeepAwayFSM
+     *
+     * @param ai_config The config to fetch parameters from
+     */
+    explicit KeepAwayFSM(const TbotsProto::AiConfig& ai_config) : ai_config(ai_config){};
 
     struct ControlParams
     {
-      std::optional<Pass> best_pass_so_far;
+        std::optional<Pass> best_pass_so_far;
     };
 
     DEFINE_TACTIC_UPDATE_STRUCT_WITH_CONTROL_AND_COMMON_PARAMS
 
     /**
-    * Action that updates the DribbleFSM to keep the ball away
-    *
-    * @param event AttackerFSM::Update event
-    * @param processEvent processes the DribbleFSM::Update
-    */
+     * Action that updates the DribbleFSM to keep the ball away
+     *
+     * @param event AttackerFSM::Update event
+     * @param processEvent processes the DribbleFSM::Update
+     */
     void keepAway(const Update& event,
                   boost::sml::back::process<DribbleFSM::Update> processEvent);
 
-    auto operator ()() {
-      using namespace boost:: sml;
-      DEFINE_SML_EVENT(Update)
-      DEFINE_SML_STATE(DribbleFSM)
-      DEFINE_SML_SUB_FSM_UPDATE_ACTION(keepAway, DribbleFSM)
-
-      return make_transition_table(
-       *DribbleFSM_S + Update_E / keepAway_A,
-       DribbleFSM_S = X,
-       X + Update_E / SET_STOP_PRIMITIVE_ACTION = X
-      );
+    auto operator()()
+    {
+        using namespace boost::sml;
+        DEFINE_SML_EVENT(Update)
+        DEFINE_SML_STATE(DribbleFSM)
+        DEFINE_SML_SUB_FSM_UPDATE_ACTION(keepAway, DribbleFSM)
+
+        return make_transition_table(*DribbleFSM_S + Update_E / keepAway_A,
+                                     DribbleFSM_S                             = X,
+                                     X + Update_E / SET_STOP_PRIMITIVE_ACTION = X);
     }
 
-    private:
-        TbotsProto::AiConfig ai_config;
+   private:
+    TbotsProto::AiConfig ai_config;
 };