player.c

uva trilearn的robocup源程序

/*
Copyright (c) 2000-2002, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without 
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this 
list of conditions and the following disclaimer. 

2. Redistributions in binary form must reproduce the above copyright notice, 
this list of conditions and the following disclaimer in the documentation 
and/or other materials provided with the distribution. 

3. Neither the name of the University of Amsterdam nor the names of its 
contributors may be used to endorse or promote products derived from this 
software without specific prior written permission. 

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE 
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*! \file Player.C

<pre>
<b>File:</b>          Player.C
<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn
<b>Authors:</b>       Jelle Kok
<b>Created:</b>       03/03/2001
<b>Last Revision:</b> $ID$
<b>Contents:</b>      This file contains the definitions for the Player class,
               which is a superclass from BasicPlayer and contains the
               decision procedure to select the skills from the
               BasicPlayer. 
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
03/03/2001       Jelle Kok       Initial version created
</pre>
*/
#include "Player.h"
#include "Parse.h"
#include <sys/poll.h> // needed for 'poll'


/*!This is the constructor the Player class and calls the constructor of the
   superclass BasicPlayer.
   \param act ActHandler to which the actions can be sent
   \param wm WorldModel which information is used to determine action
   \param ss ServerSettings that contain parameters used by the server
   \param ps PlayerSettings that contain parameters important for the client
   \param strTeamName team name of this player
   \param dVersion version this basicplayer corresponds to
   \param iReconnect integer that defines player number (-1 when new player) */
Player::Player( ActHandler* act, WorldModel *wm, ServerSettings *ss,
      PlayerSettings *ps,
      Formations *fs, char* strTeamName, double dVersion, int iReconnect )

{
  char str[MAX_MSG];

  ACT           = act;
  WM            = wm;
  SS            = ss;
  PS            = ps;
  formations    = fs;
  bContLoop     = true;
  WM->setTeamName( strTeamName );
  m_timeLastSay = -5;

  // wait longer as role number increases, to make sure players appear at the
  // field in the correct order
  poll( 0, 0, formations->getPlayerInFormation()*100 );

  // create initialisation string
  if( iReconnect != -1 )
    sprintf( str, "(reconnect %s %d)", strTeamName, iReconnect );
  else if( formations->getPlayerType() == PT_GOALKEEPER )
    sprintf( str, "(init %s (version %f) (goalie))", strTeamName, dVersion );
  else
    sprintf( str, "(init %s (version %f))", strTeamName, dVersion );
  ACT->sendMessage( str );
}

/*! This is the main loop of the agent. This method calls the update methods
    of the world model after it is indicated that new information has arrived.
    After this, the correct main loop of the player type is called, which
    puts the best soccer command in the queue of the ActHandler. */
void Player::mainLoop( )
{
  while( bContLoop )                                 // as long as server alive
  {
    Log.logWithTime( 3, "  start update_all" );
    Log.setHeader( WM->getCurrentCycle(), WM->getPlayerNumber() );
    
    if( WM->updateAll( ) == true )
    {
      if( shallISaySomething() == true )             // shall I communicate
      {
        m_timeLastSay = WM->getCurrentTime();
        ACT->sendCommandDirect( sayBallStatus() );
      }
   
      switch( formations->getPlayerType( ) )        // determine right loop
      {
        case PT_GOALKEEPER:       goalieMainLoop( );     break;
        case PT_DEFENDER_SWEEPER:
        case PT_DEFENDER_WING:    defenderMainLoop( );   break;
        case PT_MIDFIELDER_CENTER:
        case PT_MIDFIELDER_WING:  midfielderMainLoop( ); break;
        case PT_ATTACKER:
        case PT_ATTACKER_WING:    attackerMainLoop( );   break;
        case PT_ILLEGAL:
        default: break;
      }

      Log.logWithTime( 3, "  determined action; waiting for new info" );

      // directly after see message, will nog get better info, so send commands
      if( WM->getTimeLastSeeMessage() == WM->getCurrentTime() )
        ACT->sendCommands( );
    }
    else
      Log.logWithTime( 3, "  HOLE no action determined; waiting for new info" );

    // wait for new information from the server
    // cannot say bContLoop=WM->wait... since bContLoop can be changed elsewhere
    if(  WM->waitForNewInformation() == false )
        bContLoop =  false;
  }

  // shutdow, print hole and number of players seen statistics
  printf("Shutting down player %d\n", WM->getPlayerNumber() );
  printf("   Number of holes: %d (%f)\n", WM->iNrHoles,
                         ((double)WM->iNrHoles/WM->getCurrentCycle())*100 );
  printf("   Teammates seen: %d (%f)\n", WM->iNrTeammatesSeen,
                         ((double)WM->iNrTeammatesSeen/WM->getCurrentCycle()) );
  printf("   Opponents seen: %d (%f)\n", WM->iNrOpponentsSeen,
                         ((double)WM->iNrOpponentsSeen/WM->getCurrentCycle()) );

}

/*! This is the main decision loop for the goalkeeper. */
void Player::goalieMainLoop( )
{
  deMeer5_goalie();
}    

/*! This is the main decision loop for a defender. */
void Player::defenderMainLoop( )
{
  deMeer5() ;
}

/*! This is the main decision loop for a midfielder. */
void Player::midfielderMainLoop( )
{
  deMeer5() ;
}

/*! This is the main decision loop for an agent. */
void Player::attackerMainLoop( )
{
  deMeer5();
}

/*!This method is the first complete simple team and defines the actions taken
   by all the players on the field (excluding the goalie). It is based on the
   high-level actions taken by the simple team FC Portugal that it released in
   2000. The players do the following:
   - if ball is kickable
       kick ball to goal (random corner of goal)
   - else if i am fastest player to ball and no opponent can intercept ball
       intercept the ball
   - else
       move to strategic position based on your home position and pos ball */
void Player::deMeer5(  )
{

  SoccerCommand soc(CMD_ILLEGAL);
  VecPosition   posAgent = WM->getAgentGlobalPosition();
  VecPosition   posBall  = WM->getBallPos();
  int           iTmp;

  if( WM->isKickOffThem(  ) )
    ; // do nothing
  else if( WM->isBeforeKickOff( ) )
  {
    if( formations->getFormation() != FT_INITIAL )
      formations->setFormation( FT_INITIAL );       // go to kick_off formation
    VecPosition posStrat = WM->getStrategicPosition();
    if( WM->isKickOffThem( ) && posStrat.getDistanceTo( VecPosition(0,0) ) < 9.0 )
      posStrat.setX( -10.0 );

    if( posAgent.getDistanceTo( posStrat ) > 2.0  )
      ACT->putCommandInQueue( teleportToPos( posStrat ) );
     else                                            // else turn to center
    {
      ACT->putCommandInQueue( turnBodyToPoint( VecPosition( 0, 0 ), 0 ) );
      ACT->putCommandInQueue( alignNeckWithBody( ) );
    }
  }
  else
  {
    formations->setFormation( FT_433_OFFENSIVE );
    soc.commandType = CMD_ILLEGAL;

    if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
    {
      ACT->putCommandInQueue( searchBall() );         // if ball pos unknown
      ACT->putCommandInQueue( alignNeckWithBody( ) ); // search for it
    }
    else if( WM->isBallKickable())                    // if kickable
    {
      VecPosition posGoal( PITCH_LENGTH/2.0,
              (-1 + 2*(WM->getCurrentCycle()%2)) * 0.4 * SS->getGoalWidth() );
      soc = kickTo( posGoal, SS->getBallSpeedMax() ); // kick maximal

      ACT->putCommandInQueue( soc );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      Log.log( 100, "kick ball" );
    }
    else if( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL, &iTmp )
              == WM->getAgentObjectType()  && !WM->isDeadBallThem() )
    {                                                // if fastest to ball
      Log.log( 100, "I am fastest to ball; can get there in %d cycles", iTmp );
      soc = intercept( false );                      // intercept the ball

      if( soc.commandType == CMD_DASH &&             // if stamina low
          WM->getAgentStamina().getStamina() <
             SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
      {
        soc.dPower = 30.0 * WM->getAgentStamina().getRecovery(); // dash slow
        ACT->putCommandInQueue( soc );
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
      else                                           // if stamina high
      {
        ACT->putCommandInQueue( soc );               // dash as intended
        ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
      }
     }
     else if( posAgent.getDistanceTo(WM->getStrategicPosition()) >
                  1.5 + fabs(posAgent.getX()-posBall.getX())/10.0)
                                                  // if not near strategic pos
     {
       if( WM->getAgentStamina().getStamina() >     // if stamina high
                            SS->getRecoverDecThr()*SS->getStaminaMax()+200 )
       {
         soc = moveToPos(WM->getStrategicPosition(),PS->getPlayerWhenToTurnAngle());
         ACT->putCommandInQueue( soc );            // move to strategic pos
         ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
       }
       else                                        // else watch ball
       {
         ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
         ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
       }
     }
     else if( fabs( WM->getRelativeAngle( OBJECT_BALL ) ) > 1.0 ) // watch ball
     {
       ACT->putCommandInQueue( soc = turnBodyToObject( OBJECT_BALL ) );
       ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
     }
     else                                         // nothing to do
       ACT->putCommandInQueue( SoccerCommand(CMD_TURNNECK,0.0) );
   }
}


/*!This method is a simple goalie based on the goalie of the simple Team of
   FC Portugal. It defines a rectangle in its penalty area and moves to the
   position on this rectangle where the ball intersects if you make a line
   between the ball position and the center of the goal. If the ball can
   be intercepted in the own penalty area the ball is intercepted and catched.
*/
void Player::deMeer5_goalie(  )
{
  int i;
  SoccerCommand soc;
  VecPosition   posAgent = WM->getAgentGlobalPosition();
  AngDeg        angBody  = WM->getAgentGlobalBodyAngle();

  // define the top and bottom position of a rectangle in which keeper moves
  static const VecPosition posLeftTop( -PITCH_LENGTH/2.0 +
               0.7*PENALTY_AREA_LENGTH, -PENALTY_AREA_WIDTH/4.0 );
  static const VecPosition posRightTop( -PITCH_LENGTH/2.0 +
               0.7*PENALTY_AREA_LENGTH, +PENALTY_AREA_WIDTH/4.0 );

  // define the borders of this rectangle using the two points.
  static Line  lineFront = Line::makeLineFromTwoPoints(posLeftTop, posRightTop);
  static Line  lineLeft  = Line::makeLineFromTwoPoints(
                         VecPosition( -50.0, posLeftTop.getY()), posLeftTop );
  static Line  lineRight = Line::makeLineFromTwoPoints(
                         VecPosition( -50.0, posRightTop.getY()),posRightTop );


  if( WM->isBeforeKickOff( ) )
  {
    if( formations->getFormation() != FT_INITIAL || // not in kick_off formation
        posAgent.getDistanceTo( WM->getStrategicPosition() ) > 2.0 )  
    {
      formations->setFormation( FT_INITIAL );       // go to kick_off formation
      ACT->putCommandInQueue( teleportToPos( WM->getStrategicPosition() ) );
    }
    else                                            // else turn to center
    {
      ACT->putCommandInQueue( turnBodyToPoint( VecPosition( 0, 0 ), 0 ) );
      ACT->putCommandInQueue( alignNeckWithBody( ) );
    }
    return;
  }

  if( WM->getConfidence( OBJECT_BALL ) < PS->getBallConfThr() )
  {                                                // confidence ball too  low
    ACT->putCommandInQueue( searchBall() );        // search ball
    ACT->putCommandInQueue( alignNeckWithBody( ) );
  }
  else if( WM->getPlayMode() == PM_PLAY_ON || WM->isFreeKickThem() ||
           WM->isCornerKickThem() )               
  {
    if( WM->isBallCatchable() )
    {
      ACT->putCommandInQueue( soc = catchBall() );
      ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }
     else if( WM->isBallKickable() )
    {
       soc = kickTo( VecPosition(0,posAgent.getY()*2.0), 2.0 );    
       ACT->putCommandInQueue( soc );
       ACT->putCommandInQueue( turnNeckToObject( OBJECT_BALL, soc ) );
    }