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Fix Code Style On waller-clear #2348

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merged 1 commit into from
Feb 19, 2025
Merged

Fix Code Style On waller-clear #2348

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20 changes: 10 additions & 10 deletions soccer/src/soccer/strategy/agent/position/defense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,14 +38,14 @@ Defense::State Defense::update_state() {
switch (current_state_) {
case IDLING: {
break;
}
}
case JOINING_WALL: {
send_join_wall_request();
// SPDLOG_INFO("join wall {}", robot_id_);
next_state = WALLING;
walling_robots_ = {(u_int8_t)robot_id_};
break;
}
}
case WALLING: {
// If a wall is already full,
// Remove the robot with the highest ID from a wall
Expand All @@ -62,36 +62,36 @@ Defense::State Defense::update_state() {
next_state = STEALING;
}
break;
}
}
case SEARCHING: {
break;
}
}
case RECEIVING: {
// transition to idling if we are close enough to the ball
if (distance_to_ball < ball_receive_distance_) {
next_state = IDLING;
}
break;
}
}
case PASSING: {
// transition to idling if we no longer have the ball (i.e. it was passed or it was
// stolen)
if (check_is_done() || distance_to_ball > ball_lost_distance_) {
next_state = JOINING_WALL;
}
break;
}
}
case FACING: {
if (check_is_done()) {
next_state = IDLING;
}
}
}
case MARKING: {
if (marker_.get_target() == -1 || marker_.target_out_of_bounds(world_state)) {
next_state = ENTERING_MARKING;
}
break;
}
}
case ENTERING_MARKING: {
marker_.choose_target(world_state);
int target_id = marker_.get_target();
Expand All @@ -101,8 +101,8 @@ Defense::State Defense::update_state() {
next_state = MARKING;
}
break;
}
case STEALING: {// wall steal
}
case STEALING: { // wall steal
// Go to passing if successful
if (check_is_done()) {
send_leave_wall_request();
Expand Down