use RTTI to switch classes

RoboJackets · Mar 6, 2024 · aa5a0cf · aa5a0cf
1 parent 873803d
commit aa5a0cf
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Showing 2 changed files with 21 additions and 12 deletions.
diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.cpp
@@ -311,25 +311,17 @@ void RobotFactoryPosition::set_default_positions(WorldState& world_state,
         // Offensive mode
         // Closest 2 robots on defense, rest on offense
         if (i <= 1) {
-            if (current_position_->get_name() != "Defense") {
-                current_position_ = std::make_unique<Defense>(*current_position_);
-            }
+            set_current_position<Defense>();
         } else {
-            if (current_position_->get_name() != "Offense") {
-                current_position_ = std::make_unique<Offense>(robot_id_);
-            }
+            set_current_position<Offense>();
         }
     } else {
         // Defensive mode
         // Closest 4 robots on defense, rest on offense
         if (i <= 3) {
-            if (current_position_->get_name() != "Defense") {
-                current_position_ = std::make_unique<Defense>(robot_id_);
-            }
+            set_current_position<Defense>();
         } else {
-            if (current_position_->get_name() != "Offense") {
-                current_position_ = std::make_unique<Offense>(*current_position_);
-            }
+            set_current_position<Offense>();
         }
     }
 }

diff --git a/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp b/soccer/src/soccer/strategy/agent/position/robot_factory_position.hpp
@@ -60,6 +60,7 @@ class RobotFactoryPosition : public Position {
     void revive() override;
 
     void update_play_state(const PlayState& play_state) override {
+        Position::update_play_state(play_state);
         current_position_->update_play_state(play_state);
     }
 
@@ -125,6 +126,22 @@ class RobotFactoryPosition : public Position {
     State update_state();
 
     void state_to_task();
+
+    void perform_free_kick();
+
+    /**
+     * @brief Sets the current position to the parameterized type.
+     * Requires the type to have a constructor that takes a reference to the old Position
+     * (and to be a subclass of Position)
+    */
+    template <class Pos>
+    void set_current_position() {
+        // If we are not currently playing Pos
+        if (dynamic_cast<Pos*>(current_position_.get()) == nullptr) {
+            // This line requires Pos to implement the constructor Pos(const Position&)
+            current_position_ = std::make_unique<Pos>(*current_position_);
+        }
+    }
 };
 
 }  // namespace strategy