From c06ede0f600ce185da348a8540a67576fff54002 Mon Sep 17 00:00:00 2001
From: Felipe Nunes <fnap@cin.ufpe.br>
Date: Thu, 31 Oct 2024 12:27:28 -0300
Subject: [PATCH] [decision-ms] Add decision world (#76)

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

---------

Co-authored-by: ersaraujo <ersa@cin.ufpe.br>
---
 .../processing/entities/CMakeLists.txt        |  5 +++
 .../decision/processing/entities/world.cpp    | 33 +++++++++++++++++
 .../decision/processing/entities/world.h      | 37 +++++++++++++++++++
 3 files changed, 75 insertions(+)
 create mode 100644 decision-ms/decision-guardiola/decision/processing/entities/CMakeLists.txt
 create mode 100644 decision-ms/decision-guardiola/decision/processing/entities/world.cpp
 create mode 100644 decision-ms/decision-guardiola/decision/processing/entities/world.h

diff --git a/decision-ms/decision-guardiola/decision/processing/entities/CMakeLists.txt b/decision-ms/decision-guardiola/decision/processing/entities/CMakeLists.txt
new file mode 100644
index 00000000..f6622e4e
--- /dev/null
+++ b/decision-ms/decision-guardiola/decision/processing/entities/CMakeLists.txt
@@ -0,0 +1,5 @@
+robocin_cpp_library(
+  NAME entities
+  HDRS world.h
+  SRCS world.cpp
+)
diff --git a/decision-ms/decision-guardiola/decision/processing/entities/world.cpp b/decision-ms/decision-guardiola/decision/processing/entities/world.cpp
new file mode 100644
index 00000000..30206cce
--- /dev/null
+++ b/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
diff --git a/decision-ms/decision-guardiola/decision/processing/entities/world.h b/decision-ms/decision-guardiola/decision/processing/entities/world.h
new file mode 100644
index 00000000..c8c421b2
--- /dev/null
+++ b/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