testdudev2.cc

该文件是包含了机器人足球比赛中的整个系统的代码

#include "TestDudeV2.h"
#include "../Common/Common.h"
#include "../TOOLS/BallTricks.h"
#include "../TOOLS/BasicTricks.h"
#include "../TOOLS/HeadTricks.h"
#include "../TOOLS/ComplexTricks.h"
#include "../TOOLS/MovementTricks.h"

// Simple chaser that tries to score goals :).
TestDudeV2::TestDudeV2() {
  configuration_.ParseFile("/ms/open-r/mw/data/tdv2.cfg");

  debugOutput = configuration_.GetAsBool("DebugOutput");

  currentTrick = new BasicTricks::NullBody();
  headTrick = new BasicTricks::NullHead();
  inPlaying = false;
}

TestDudeV2::~TestDudeV2() {
  delete currentTrick;
  delete headTrick;
}

void TestDudeV2::NewGoHomeModel() {
  if (inPlaying) {
    delete headTrick;
    headTrick = new HeadTricks::HeadPan(85,-85,3,50);   // MQ 19/6 .. changed from (70,-70,0,12)
    headTrick->Start();
    delete currentTrick;
    currentTrick = new BasicTricks::NullBody();
    currentTrick->Start();
  }

  int hC = headTrick->Continue();
  if (hC < 1) {
    delete headTrick;
    headTrick = new HeadTricks::HeadPan(85,-85,3,50);   // MQ 19/6 .. changed from (70,-70,0,12)
    headTrick->Start();
  }
  inPlaying = false;

/*  if (frame_ % 300 == 0) {
    delete headTrick;
    headTrick = new HeadTricks::FixateOnBeacon(75);
    headTrick->Start();
  }*/
}

void TestDudeV2::NewReadyModel() {
  if (inPlaying) {
    delete headTrick;
    headTrick = new HeadTricks::HeadPan(85,-85,3,50);   // MQ 19/6 .. changed from (70,-70,0,12)
    headTrick->Start();
    delete currentTrick;
    currentTrick = new BasicTricks::NullBody();
    currentTrick->Start();
  }

  int hC=headTrick->Continue();
//char* hMsg = headTrick->GetErrorMsg(hC);
  if (!currentTrick->IsUsingHead() && (hC < 1)) {
    headTrick = new HeadTricks::HeadPan(85,-85,3,50);   // MQ 19/6 .. changed from (70,-70,0,12)
    headTrick->Start();
  } else if (vo_ball_ != NULL && strcmp(headTrick->GetName(),"HeadPan")==0) {
    delete headTrick;
    headTrick = new HeadTricks::FollowBallWithHeadSticky(10);
    headTrick->Start();
  }

  inPlaying = false;
}

void TestDudeV2::NewPlayingModel() {
  if (!inPlaying) {
    delete headTrick;
    headTrick = new BasicTricks::NullHead();
    headTrick->Start();

    delete currentTrick;
    currentTrick = new BasicTricks::NullBody();
    currentTrick->Start();
  }
  inPlaying=true;

  int hC = headTrick->Continue();
  if (hC < 1) {
    delete headTrick;
    headTrick = new BasicTricks::NullHead();
    headTrick->Start();
  }

  int cC = currentTrick->Continue();
  if (cC < 1) {
    if (vo_ball_ != NULL) {
      if (debugOutput)
        cout << "TestDudeV2: Ball visible. Chase !" << endl << flush;
      delete currentTrick;
      currentTrick = new ComplexTricks::AdvancedChaseWithKick();
      currentTrick->Start();

      headTrick->Abort();
      delete headTrick;
      headTrick = new BasicTricks::NullHead();
      headTrick->Start();
    } else if (strcmp(currentTrick->GetName(),"AdvancedChaseWithKick") == 0){
      if (debugOutput)
        cout << "TestDudeV2: Ball not visible, and was chasing/kicking. PostKickSearch !" << endl << flush;

      delete currentTrick;
     // if (cC == 0) currentTrick = new ComplexTricks::PostChaseSearchForBall(true,60.0);
    //  else currentTrick = new ComplexTricks::PostChaseSearchForBall(false,60.0);
      currentTrick = new BasicTricks::NullBody();
      currentTrick->Start();

      delete headTrick;
      headTrick = new BasicTricks::NullHead();
      headTrick->Start();
    } else {
      if (debugOutput)
        cout << "TestDudeV2: Ball not visible" << endl << flush;

      delete currentTrick;
      currentTrick = new MovementTricks::SearchForBall(360.0);
      currentTrick->Start();

      delete headTrick;
      headTrick = new BasicTricks::NullHead();
      headTrick->Start();
    }
  }

}