[decision-ms] Add decision world (#76)

Adds decision world with allies, enemies, ball and game status (referee)
information.

---------

Co-authored-by: ersaraujo <[email protected]>

decision-ms/decision-guardiola/decision/processing/entities/CMakeLists.txt

@@ -0,0 +1,5 @@
+robocin_cpp_library(
+  NAME entities
+  HDRS world.h
+  SRCS world.cpp
+)

decision-ms/decision-guardiola/decision/processing/entities/world.cpp

@@ -0,0 +1,33 @@
+#include "decision/processing/entities/world.h"
+
+#include "decision/processing/messages/referee/game_status_message.h"
+
+namespace decision {
+
+void World::update(std::optional<std::span<RobotMessage>>& allies,
+                   std::optional<std::span<RobotMessage>>& enemies,
+                   std::optional<BallMessage>& ball,
+                   std::optional<FieldMessage>& field,
+                   std::optional<GameStatusMessage>& game_status) {
+  if (allies.has_value()) {
+    this->allies = allies.value();
+  }
+
+  if (enemies.has_value()) {
+    this->enemies = enemies.value();
+  }
+
+  if (ball.has_value()) {
+    this->ball = std::move(ball.value());
+  }
+
+  if (field.has_value()) {
+    this->field = std::move(field.value());
+  }
+
+  if (game_status.has_value()) {
+    this->game_status = std::move(game_status.value());
+  }
+}
+
+} // namespace decision

decision-ms/decision-guardiola/decision/processing/entities/world.h

@@ -0,0 +1,37 @@
+#ifndef DECISION_PROCESSING_ENTITIES_WORLD_H
+#define DECISION_PROCESSING_ENTITIES_WORLD_H
+
+#include "decision/processing/messages/perception/ball/ball_message.h"
+#include "decision/processing/messages/perception/field/field_message.h"
+#include "decision/processing/messages/perception/robot/robot_message.h"
+#include "decision/processing/messages/referee/game_status_message.h"
+
+namespace decision {
+
+class World {
+ public:
+  World() = default;
+
+  World(const World&) = delete;
+  World& operator=(const World&) = delete;
+  World(World&&) noexcept = default;
+  World& operator=(World&&) noexcept = default;
+
+  virtual ~World() = default;
+
+  std::span<RobotMessage> allies;
+  std::span<RobotMessage> enemies;
+  BallMessage ball;
+  FieldMessage field;
+  GameStatusMessage game_status; // referee
+
+  void update(std::optional<std::span<RobotMessage>>& allies,
+              std::optional<std::span<RobotMessage>>& enemies,
+              std::optional<BallMessage>& ball,
+              std::optional<FieldMessage>& field,
+              std::optional<GameStatusMessage>& game_status);
+};
+
+} // namespace decision
+
+#endif // DECISION_PROCESSING_ENTITIES_WORLD_H