jetli.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 "JetLi.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"
#include "../TOOLS/PenaltyTricks.h"

// 2003 penalty player. This dude lost the 2003 semi-final :)
JetLi::JetLi() {
  configuration_.ParseFile("/ms/open-r/mw/data/jetli.cfg");

  debugOutput = configuration_.GetAsBool("JetLi_DebugOutput");

  homeX[0] = configuration_.GetAsInt("JetLi_HomeX");
  homeY[0] = configuration_.GetAsInt("JetLi_HomeY");
  homeRadius = configuration_.GetAsInt("JetLi_HomeRadius");
  homeErrorDistance = configuration_.GetAsInt("JetLi_HomeErrorDistance");

  currentTrick = new BasicTricks::NullBody();
  headTrick = new BasicTricks::NullHead();
  inPlaying = false;
  currentHomeIndex = 0;
  
  homeX[0] = 0;
  homeY[0] = -55;
  homeX[1] = 0;
  homeY[1] = 55;
  homeRadius = 20;

}

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

void JetLi::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(3);
    headTrick->Start();
  }*/

  inPlaying = false;
}

void JetLi::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();
  //executing normally. we may wish to interrupt.
  if (cC >= 1) {
    if (strcmp(currentTrick->GetName(),"MoveToPoint")==0) {
      // we can see the ball !!
      if (vo_ball_ != NULL) {
        if (debugOutput)
          cout << "JetLi: Aborting MoveToPoint and going after ball !" << endl << flush;
        currentTrick->Abort();  
        delete currentTrick;
        currentTrick = new PenaltyTricks::ChaseWithKick();
        currentTrick->Start();

        headTrick->Abort();
        delete headTrick;
        headTrick = new BasicTricks::NullHead();
        headTrick->Start();
      } else if ( (pow(wo_self_->x_ - homeX[currentHomeIndex], 2)+pow(wo_self_->y_ - homeY[currentHomeIndex], 2)) < homeRadius*homeRadius) {
        currentTrick->Abort();
        delete currentTrick;
        currentTrick = new MovementTricks::SearchForBall(360.0);
//        currentTrick = new MovementTricks::SearchForBallChallenge(360.0,40);
        currentTrick->Start();

        headTrick->Abort();
        delete headTrick;
        headTrick = new BasicTricks::NullHead();
        headTrick->Start();
      }
    }
  } else if (cC < 1) {
    if (IsBallVisible()) {
      if (debugOutput)
        cout << "JetLi: Ball visible, previous trick has ended. Chasing." << endl << flush;
      delete currentTrick;
      currentTrick = new PenaltyTricks::ChaseWithKick();
      currentTrick->Start();

      headTrick->Abort();
      delete headTrick;
      headTrick = new BasicTricks::NullHead();
      headTrick->Start();
    } else {
      // if we're just out of a trick, and we did NOT just search, and the ball is not visible .. spin around !
      if ((strcmp(currentTrick->GetName(), "SearchForBall")!=0) && (IsBallVisible() == false)) {
        if (debugOutput)
          cout << "JetLi: Searching for ball." << endl << flush;
        delete currentTrick;
        currentTrick = new MovementTricks::SearchForBall(360.0);
        //currentTrick = new MovementTricks::SearchForBallChallenge(360.0,40);
        currentTrick->Start();

        delete headTrick;
        headTrick = new BasicTricks::NullHead();
        headTrick->Start();
      } else if ((pow(wo_self_->x_ - homeX[currentHomeIndex], 2)+pow(wo_self_->y_ - homeY[currentHomeIndex], 2)) < homeRadius*homeRadius) {
        currentHomeIndex++;        
        if (currentHomeIndex > 1) currentHomeIndex=0;
        delete currentTrick;

        if (currentHomeIndex == 0) {
          currentTrick = new MovementTricks::MoveToPoint(homeX[currentHomeIndex],homeY[currentHomeIndex],0.0,MovementTricks::MoveToPoint::MTP_DYNAMIC_FACE_BALL);
        } else {
          currentTrick = new MovementTricks::MoveToPoint(homeX[currentHomeIndex],homeY[currentHomeIndex],0.0,MovementTricks::MoveToPoint::MTP_DYNAMIC);
        }
        currentTrick->Start();
        delete headTrick;
        headTrick = new HeadTricks::HeadPanForBall();
        headTrick->Start();

      } else {
        // if we've just searched and didn't find the ball, let's go home !
        delete currentTrick;

        if (currentHomeIndex == 0) {
          currentTrick = new MovementTricks::MoveToPoint(homeX[currentHomeIndex],homeY[currentHomeIndex],0.0,MovementTricks::MoveToPoint::MTP_DYNAMIC_FACE_BALL);
        } else {
          currentTrick = new MovementTricks::MoveToPoint(homeX[currentHomeIndex],homeY[currentHomeIndex],0.0,MovementTricks::MoveToPoint::MTP_DYNAMIC);        }
        currentTrick->Start();
        delete headTrick;
        headTrick = new HeadTricks::HeadPanForBall();
        headTrick->Start();
      } 
    }
  }
}


bool JetLi::IsBallVisible() {
  return (vo_ball_ != NULL);
}