[pre-commit.ci lite] apply automatic fixes

pre-commit-ci-lite[bot] · web-flow · commit 534c9e2a7e59 · 2026-04-26T17:24:21.000Z
diff --git a/docs/fsm-diagrams.md b/docs/fsm-diagrams.md
@@ -298,6 +298,23 @@ Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</
 
 ```
 
+## [ChipFSM](/src/software/ai/hl/stp/tactic/chip/chip_fsm.h)
+
+```mermaid
+
+stateDiagram-v2
+classDef terminate fill:white,color:black,font-weight:bold
+direction LR
+[*] --> GetBehindBallFSM
+GetBehindBallFSM --> GetBehindBallFSM : <i>updateGetBehindBall</i>
+GetBehindBallFSM --> ChipState
+ChipState --> GetBehindBallFSM : [shouldRealignWithBall]\n<i>updateGetBehindBall</i>
+ChipState --> ChipState : [!ballChicked]\n<i>updateChip</i>
+ChipState --> Terminate:::terminate : [ballChicked]\n<i>SET_STOP_PRIMITIVE_ACTION</i>
+Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</i>
+
+```
+
 ## [CreaseDefenderFSM](/src/software/ai/hl/stp/tactic/crease_defender/crease_defender_fsm.h)
 
 ```mermaid
diff --git a/src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp b/src/software/ai/hl/stp/play/free_kick/free_kick_play_fsm.cpp
@@ -291,10 +291,9 @@ void FreeKickPlayFSM::passBall(const Update& event)
     Pass pass = best_pass_and_score_so_far.pass;
 
     AutoChipOrKick auto_chip_or_kick = {AutoChipOrKickMode::AUTOKICK, pass.speed()};
-    passer_tactic->updateControlParams(
-        pass.passerPoint(), pass.passerOrientation(),
-        auto_chip_or_kick);
-	receiver_tactic->updateControlParams(pass);
+    passer_tactic->updateControlParams(pass.passerPoint(), pass.passerOrientation(),
+                                       auto_chip_or_kick);
+    receiver_tactic->updateControlParams(pass);
     tactics_to_run[0].emplace_back(passer_tactic);
     tactics_to_run[0].emplace_back(receiver_tactic);
 
diff --git a/src/software/ai/hl/stp/play/kickoff_friendly_play.cpp b/src/software/ai/hl/stp/play/kickoff_friendly_play.cpp
@@ -12,8 +12,8 @@ KickoffFriendlyPlay::KickoffFriendlyPlay(
 {
 }
 
-void KickoffFriendlyPlay::getNextTactics(TacticCoroutine::push_type &yield,
-                                         const WorldPtr &world_ptr)
+void KickoffFriendlyPlay::getNextTactics(TacticCoroutine::push_type& yield,
+                                         const WorldPtr& world_ptr)
 {
     // Since we only have 6 robots at the maximum, the number one priority
     // is the robot doing the kickoff up front. The goalie is the second most
diff --git a/src/software/ai/hl/stp/tactic/kick_or_chip/kick_or_chip_fsm.cpp b/src/software/ai/hl/stp/tactic/kick_or_chip/kick_or_chip_fsm.cpp
@@ -8,7 +8,7 @@ KickOrChipFSM::KickOrChipFSM(std::shared_ptr<const TbotsProto::AiConfig> ai_conf
 {
 }
 
-void KickOrChipFSM::kickOrChipBall(const Update &event)
+void KickOrChipFSM::kickOrChipBall(const Update& event)
 {
     Vector direction =
         Vector::createFromAngle(event.control_params.kick_or_chip_direction);
@@ -24,7 +24,7 @@ void KickOrChipFSM::kickOrChipBall(const Update &event)
 }
 
 void KickOrChipFSM::updateGetBehindBall(
-    const Update &event, boost::sml::back::process<GetBehindBallFSM::Update> processEvent)
+    const Update& event, boost::sml::back::process<GetBehindBallFSM::Update> processEvent)
 {
     GetBehindBallFSM::ControlParams control_params{
         .ball_location   = event.control_params.kick_or_chip_origin,
@@ -34,15 +34,15 @@ void KickOrChipFSM::updateGetBehindBall(
     processEvent(GetBehindBallFSM::Update(control_params, event.common));
 }
 
-bool KickOrChipFSM::ballChicked(const Update &event)
+bool KickOrChipFSM::ballChicked(const Update& event)
 {
     return event.common.world_ptr->ball().hasBallBeenKicked(
         event.control_params.kick_or_chip_direction);
 }
 
-bool KickOrChipFSM::shouldRealignWithBall(const Update &event)
+bool KickOrChipFSM::shouldRealignWithBall(const Update& event)
 {
-    const Robot &robot = event.common.robot;
+    const Robot& robot = event.common.robot;
 
     // First check to see if it's too late to realign with the ball
     if (robot.isNearDribbler(event.control_params.kick_or_chip_origin, 0.05))
diff --git a/src/software/ai/hl/stp/tactic/kick_or_chip/kick_or_chip_fsm.h b/src/software/ai/hl/stp/tactic/kick_or_chip/kick_or_chip_fsm.h
@@ -40,7 +40,7 @@ struct KickOrChipFSM : TacticFSM<KickOrChipFSM>
      *
      * @param event KickFSM::Update event
      */
-    void kickOrChipBall(const Update &event);
+    void kickOrChipBall(const Update& event);
 
     /**
      * Action that updates the GetBehindBallFSM
diff --git a/src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_fsm.cpp b/src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_fsm.cpp
@@ -121,7 +121,7 @@ const Point PenaltyKickFSM::evaluateNextShotPosition(std::optional<Robot> enemy_
     }
 }
 
-void PenaltyKickFSM::shoot(const Update &event,
+void PenaltyKickFSM::shoot(const Update& event,
                            boost::sml::back::process<KickOrChipFSM::Update> processEvent)
 {
     AutoChipOrKick auto_chip_or_kick = {AutoChipOrKickMode::AUTOKICK,
diff --git a/src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_fsm.h b/src/software/ai/hl/stp/tactic/penalty_kick/penalty_kick_fsm.h
@@ -58,7 +58,7 @@ struct PenaltyKickFSM : TacticFSM<PenaltyKickFSM>
      * @param event          PenaltyKickFSM::Update event
      * @param processEvent   processes the KickFSM::Update
      */
-    void shoot(const Update &event,
+    void shoot(const Update& event,
                boost::sml::back::process<KickOrChipFSM::Update> processEvent);
 
     /**
diff --git a/src/software/ai/hl/stp/tactic/tactic_factory.cpp b/src/software/ai/hl/stp/tactic/tactic_factory.cpp
@@ -59,7 +59,7 @@ std::shared_ptr<Tactic> createTactic(
 }
 
 std::shared_ptr<Tactic> createTactic(
-    const TbotsProto::CreaseDefenderTactic &tactic_proto,
+    const TbotsProto::CreaseDefenderTactic& tactic_proto,
     std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr)
 {
     auto tactic = std::make_shared<CreaseDefenderTactic>(ai_config_ptr);
@@ -113,7 +113,7 @@ std::shared_ptr<Tactic> createTactic(
 }
 
 std::shared_ptr<Tactic> createTactic(
-    const TbotsProto::KickOrChipTactic &tactic_proto,
+    const TbotsProto::KickOrChipTactic& tactic_proto,
     std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr)
 {
     auto tactic = std::make_shared<KickOrChipTactic>(ai_config_ptr);
diff --git a/src/software/ai/hl/stp/tactic/tactic_factory.h b/src/software/ai/hl/stp/tactic/tactic_factory.h
@@ -18,7 +18,7 @@ std::shared_ptr<Tactic> createTactic(
     const TbotsProto::AttackerTactic& tactic_proto,
     std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr);
 std::shared_ptr<Tactic> createTactic(
-    const TbotsProto::CreaseDefenderTactic &tactic_proto,
+    const TbotsProto::CreaseDefenderTactic& tactic_proto,
     std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr);
 std::shared_ptr<Tactic> createTactic(
     const TbotsProto::DribbleTactic& tactic_proto,
@@ -30,7 +30,7 @@ std::shared_ptr<Tactic> createTactic(
     const TbotsProto::GoalieTactic& tactic_proto,
     std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr);
 std::shared_ptr<Tactic> createTactic(
-    const TbotsProto::KickOrChipTactic &tactic_proto,
+    const TbotsProto::KickOrChipTactic& tactic_proto,
     std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr);
 std::shared_ptr<Tactic> createTactic(
     const TbotsProto::MoveGoalieToGoalLineTactic& tactic_proto,
diff --git a/src/software/ai/hl/stp/tactic/tactic_visitor.h b/src/software/ai/hl/stp/tactic/tactic_visitor.h
@@ -46,29 +46,29 @@ class TacticVisitor
      * @param tactic The tactic to visit
      */
 
-    virtual void visit(const CreaseDefenderTactic &tactic)       = 0;
-    virtual void visit(const DefenseShadowEnemyTactic &tactic)   = 0;
-    virtual void visit(const DribbleTactic &tactic)              = 0;
-    virtual void visit(const GetBehindBallTactic &tactic)        = 0;
-    virtual void visit(const GoalieTactic &tactic)               = 0;
-    virtual void visit(const GoalieTestTactic &tactic)           = 0;
-    virtual void visit(const KickoffChipTactic &tactic)          = 0;
-    virtual void visit(const MoveTactic &tactic)                 = 0;
-    virtual void visit(const MoveTestTactic &tactic)             = 0;
-    virtual void visit(const AttackerTactic &tactic)             = 0;
-    virtual void visit(const PassDefenderTactic &tactic)         = 0;
-    virtual void visit(const PenaltyKickTactic &tactic)          = 0;
-    virtual void visit(const PenaltySetupTactic &tactic)         = 0;
-    virtual void visit(const PivotKickTactic &tactic)            = 0;
-    virtual void visit(const ReceiverTactic &tactic)             = 0;
-    virtual void visit(const ShadowEnemyTactic &tactic)          = 0;
-    virtual void visit(const HaltTactic &tactic)                 = 0;
-    virtual void visit(const StopTestTactic &tactic)             = 0;
-    virtual void visit(const MoveGoalieToGoalLineTactic &tactic) = 0;
-    virtual void visit(const PrepareKickoffMoveTactic &tactic)   = 0;
-    virtual void visit(const PlaceBallTactic &tactic)            = 0;
-    virtual void visit(const PlaceBallMoveTactic &tactic)        = 0;
-    virtual void visit(const WallKickoffTactic &tactic)          = 0;
-    virtual void visit(const AvoidInterferenceTactic &tactic)    = 0;
-    virtual void visit(const KickOrChipTactic &tactic)           = 0;
+    virtual void visit(const CreaseDefenderTactic& tactic)       = 0;
+    virtual void visit(const DefenseShadowEnemyTactic& tactic)   = 0;
+    virtual void visit(const DribbleTactic& tactic)              = 0;
+    virtual void visit(const GetBehindBallTactic& tactic)        = 0;
+    virtual void visit(const GoalieTactic& tactic)               = 0;
+    virtual void visit(const GoalieTestTactic& tactic)           = 0;
+    virtual void visit(const KickoffChipTactic& tactic)          = 0;
+    virtual void visit(const MoveTactic& tactic)                 = 0;
+    virtual void visit(const MoveTestTactic& tactic)             = 0;
+    virtual void visit(const AttackerTactic& tactic)             = 0;
+    virtual void visit(const PassDefenderTactic& tactic)         = 0;
+    virtual void visit(const PenaltyKickTactic& tactic)          = 0;
+    virtual void visit(const PenaltySetupTactic& tactic)         = 0;
+    virtual void visit(const PivotKickTactic& tactic)            = 0;
+    virtual void visit(const ReceiverTactic& tactic)             = 0;
+    virtual void visit(const ShadowEnemyTactic& tactic)          = 0;
+    virtual void visit(const HaltTactic& tactic)                 = 0;
+    virtual void visit(const StopTestTactic& tactic)             = 0;
+    virtual void visit(const MoveGoalieToGoalLineTactic& tactic) = 0;
+    virtual void visit(const PrepareKickoffMoveTactic& tactic)   = 0;
+    virtual void visit(const PlaceBallTactic& tactic)            = 0;
+    virtual void visit(const PlaceBallMoveTactic& tactic)        = 0;
+    virtual void visit(const WallKickoffTactic& tactic)          = 0;
+    virtual void visit(const AvoidInterferenceTactic& tactic)    = 0;
+    virtual void visit(const KickOrChipTactic& tactic)           = 0;
 };
diff --git a/src/software/ai/motion_constraint/motion_constraint_visitor.cpp b/src/software/ai/motion_constraint/motion_constraint_visitor.cpp
@@ -20,7 +20,7 @@ void MotionConstraintVisitor::visit(const ShadowEnemyTactic& tactic) {}
 
 void MotionConstraintVisitor::visit(const MoveTactic& tactic) {}
 
-void MotionConstraintVisitor::visit(const PivotKickTactic &tactic) {}
+void MotionConstraintVisitor::visit(const PivotKickTactic& tactic) {}
 
 void MotionConstraintVisitor::visit(const KickoffChipTactic& tactic)
 {
@@ -103,9 +103,9 @@ void MotionConstraintVisitor::visit(const AvoidInterferenceTactic& tactic)
     current_motion_constraints.clear();
 }
 
-void MotionConstraintVisitor::visit(const KickOrChipTactic &tactic) {}
+void MotionConstraintVisitor::visit(const KickOrChipTactic& tactic) {}
 
-void MotionConstraintVisitor::visit(const PassDefenderTactic &tactic) {}
+void MotionConstraintVisitor::visit(const PassDefenderTactic& tactic) {}
 
 std::set<TbotsProto::MotionConstraint>
 MotionConstraintVisitor::getUpdatedMotionConstraints(
diff --git a/src/software/ai/motion_constraint/motion_constraint_visitor.h b/src/software/ai/motion_constraint/motion_constraint_visitor.h
@@ -19,31 +19,31 @@ class MotionConstraintVisitor : public TacticVisitor
      *
      * @modifies current_motion_constraints
      */
-    void visit(const GoalieTactic &tactic) override;
-    void visit(const CreaseDefenderTactic &tactic) override;
-    void visit(const ShadowEnemyTactic &tactic) override;
-    void visit(const MoveTactic &tactic) override;
-    void visit(const KickoffChipTactic &tactic) override;
-    void visit(const HaltTactic &tactic) override;
-    void visit(const PenaltyKickTactic &tactic) override;
-    void visit(const PenaltySetupTactic &tactic) override;
-    void visit(const ReceiverTactic &tactic) override;
-    void visit(const AttackerTactic &tactic) override;
-    void visit(const DefenseShadowEnemyTactic &tactic) override;
-    void visit(const MoveTestTactic &tactic) override;
-    void visit(const StopTestTactic &tactic) override;
-    void visit(const GoalieTestTactic &tactic) override;
-    void visit(const DribbleTactic &tactic) override;
-    void visit(const GetBehindBallTactic &tactic) override;
-    void visit(const PivotKickTactic &tactic) override;
-    void visit(const MoveGoalieToGoalLineTactic &tactic) override;
-    void visit(const PrepareKickoffMoveTactic &tactic) override;
-    void visit(const PlaceBallTactic &tactic) override;
-    void visit(const PlaceBallMoveTactic &tactic) override;
-    void visit(const WallKickoffTactic &tactic) override;
-    void visit(const AvoidInterferenceTactic &tactic) override;
-    void visit(const PassDefenderTactic &tactic) override;
-    void visit(const KickOrChipTactic &tactic) override;
+    void visit(const GoalieTactic& tactic) override;
+    void visit(const CreaseDefenderTactic& tactic) override;
+    void visit(const ShadowEnemyTactic& tactic) override;
+    void visit(const MoveTactic& tactic) override;
+    void visit(const KickoffChipTactic& tactic) override;
+    void visit(const HaltTactic& tactic) override;
+    void visit(const PenaltyKickTactic& tactic) override;
+    void visit(const PenaltySetupTactic& tactic) override;
+    void visit(const ReceiverTactic& tactic) override;
+    void visit(const AttackerTactic& tactic) override;
+    void visit(const DefenseShadowEnemyTactic& tactic) override;
+    void visit(const MoveTestTactic& tactic) override;
+    void visit(const StopTestTactic& tactic) override;
+    void visit(const GoalieTestTactic& tactic) override;
+    void visit(const DribbleTactic& tactic) override;
+    void visit(const GetBehindBallTactic& tactic) override;
+    void visit(const PivotKickTactic& tactic) override;
+    void visit(const MoveGoalieToGoalLineTactic& tactic) override;
+    void visit(const PrepareKickoffMoveTactic& tactic) override;
+    void visit(const PlaceBallTactic& tactic) override;
+    void visit(const PlaceBallMoveTactic& tactic) override;
+    void visit(const WallKickoffTactic& tactic) override;
+    void visit(const AvoidInterferenceTactic& tactic) override;
+    void visit(const PassDefenderTactic& tactic) override;
+    void visit(const KickOrChipTactic& tactic) override;
 
     /**
      * Gets the motion constraints updated with the requirements of the tactics

Original file line number	Diff line number	Diff line change
`@@ -12,8 +12,8 @@ KickoffFriendlyPlay::KickoffFriendlyPlay(`
`12`	`12`	`{`
`13`	`13`	`}`
`14`	`14`
`15`		`-void KickoffFriendlyPlay::getNextTactics(TacticCoroutine::push_type &yield,`
`16`		`- const WorldPtr &world_ptr)`
	`15`	`+void KickoffFriendlyPlay::getNextTactics(TacticCoroutine::push_type& yield,`
	`16`	`+ const WorldPtr& world_ptr)`
`17`	`17`	`{`
`18`	`18`	`// Since we only have 6 robots at the maximum, the number one priority`
`19`	`19`	`// is the robot doing the kickoff up front. The goalie is the second most`
Original file line number	Diff line number	Diff line change
`@@ -8,7 +8,7 @@ KickOrChipFSM::KickOrChipFSM(std::shared_ptr<const TbotsProto::AiConfig> ai_conf`
`8`	`8`	`{`
`9`	`9`	`}`
`10`	`10`
`11`		`-void KickOrChipFSM::kickOrChipBall(const Update &event)`
	`11`	`+void KickOrChipFSM::kickOrChipBall(const Update& event)`
`12`	`12`	`{`
`13`	`13`	`Vector direction =`
`14`	`14`	`Vector::createFromAngle(event.control_params.kick_or_chip_direction);`
`@@ -24,7 +24,7 @@ void KickOrChipFSM::kickOrChipBall(const Update &event)`
`24`	`24`	`}`
`25`	`25`
`26`	`26`	`void KickOrChipFSM::updateGetBehindBall(`
`27`		`- const Update &event, boost::sml::back::process<GetBehindBallFSM::Update> processEvent)`
	`27`	`+ const Update& event, boost::sml::back::process<GetBehindBallFSM::Update> processEvent)`
`28`	`28`	`{`
`29`	`29`	`GetBehindBallFSM::ControlParams control_params{`
`30`	`30`	`.ball_location = event.control_params.kick_or_chip_origin,`
`@@ -34,15 +34,15 @@ void KickOrChipFSM::updateGetBehindBall(`
`34`	`34`	`processEvent(GetBehindBallFSM::Update(control_params, event.common));`
`35`	`35`	`}`
`36`	`36`
`37`		`-bool KickOrChipFSM::ballChicked(const Update &event)`
	`37`	`+bool KickOrChipFSM::ballChicked(const Update& event)`
`38`	`38`	`{`
`39`	`39`	`return event.common.world_ptr->ball().hasBallBeenKicked(`
`40`	`40`	`event.control_params.kick_or_chip_direction);`
`41`	`41`	`}`
`42`	`42`
`43`		`-bool KickOrChipFSM::shouldRealignWithBall(const Update &event)`
	`43`	`+bool KickOrChipFSM::shouldRealignWithBall(const Update& event)`
`44`	`44`	`{`
`45`		`- const Robot &robot = event.common.robot;`
	`45`	`+ const Robot& robot = event.common.robot;`
`46`	`46`
`47`	`47`	`// First check to see if it's too late to realign with the ball`
`48`	`48`	`if (robot.isNearDribbler(event.control_params.kick_or_chip_origin, 0.05))`
Original file line number	Diff line number	Diff line change
`@@ -40,7 +40,7 @@ struct KickOrChipFSM : TacticFSM<KickOrChipFSM>`
`40`	`40`	`*`
`41`	`41`	`* @param event KickFSM::Update event`
`42`	`42`	`*/`
`43`		`- void kickOrChipBall(const Update &event);`
	`43`	`+ void kickOrChipBall(const Update& event);`
`44`	`44`
`45`	`45`	`/**`
`46`	`46`	`* Action that updates the GetBehindBallFSM`
Original file line number	Diff line number	Diff line change
`@@ -121,7 +121,7 @@ const Point PenaltyKickFSM::evaluateNextShotPosition(std::optional<Robot> enemy_`
`121`	`121`	`}`
`122`	`122`	`}`
`123`	`123`
`124`		`-void PenaltyKickFSM::shoot(const Update &event,`
	`124`	`+void PenaltyKickFSM::shoot(const Update& event,`
`125`	`125`	`boost::sml::back::process<KickOrChipFSM::Update> processEvent)`
`126`	`126`	`{`
`127`	`127`	`AutoChipOrKick auto_chip_or_kick = {AutoChipOrKickMode::AUTOKICK,`
Original file line number	Diff line number	Diff line change
`@@ -59,7 +59,7 @@ std::shared_ptr<Tactic> createTactic(`
`59`	`59`	`}`
`60`	`60`
`61`	`61`	`std::shared_ptr<Tactic> createTactic(`
`62`		`- const TbotsProto::CreaseDefenderTactic &tactic_proto,`
	`62`	`+ const TbotsProto::CreaseDefenderTactic& tactic_proto,`
`63`	`63`	`std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr)`
`64`	`64`	`{`
`65`	`65`	`auto tactic = std::make_shared<CreaseDefenderTactic>(ai_config_ptr);`
`@@ -113,7 +113,7 @@ std::shared_ptr<Tactic> createTactic(`
`113`	`113`	`}`
`114`	`114`
`115`	`115`	`std::shared_ptr<Tactic> createTactic(`
`116`		`- const TbotsProto::KickOrChipTactic &tactic_proto,`
	`116`	`+ const TbotsProto::KickOrChipTactic& tactic_proto,`
`117`	`117`	`std::shared_ptr<const TbotsProto::AiConfig> ai_config_ptr)`
`118`	`118`	`{`
`119`	`119`	`auto tactic = std::make_shared<KickOrChipTactic>(ai_config_ptr);`