sleek.h

该文件是包含了机器人足球比赛中的整个系统的代码

#ifndef Sleek_H
#define Sleek_H

#include "Dude.h"
#include "../TOOLS/Utilities.h"
#include "../TOOLS/KickSelecta.h"


class Sleek : public Dude {
public:
	Sleek();
  ~Sleek();

	virtual void NewReadyModel();
	virtual void NewPlayingModel();
  virtual void NewGoHomeModel();

  // NOTE !!!!!!
  // the first few entries in this struct should be *identical* to NormalMessage. All the extras
  // should go AFTER. This is important. Don't screw it up.
  struct CaptainMessage {
    bool chasing; //1
    double distance; // 4
    signed char position[4]; // 4
    short upperX[4]; // 8
    short upperY[4]; // 8
    short lowerX[4]; // 8
    short lowerY[4]; // 8
    short homeX[4]; // 8
    short homeY[4]; // 8
  };
  struct NormalMessage {
    bool chasing; //1
    double distance; // 4
  };

  struct RobotRegion {
    int upperX;
    int upperY;
    int lowerX;
    int lowerY;
    int homeX;
    int homeY;
  };

  enum {
    BL_GOALKEEPER = 0,
    BL_LEFTSTRIKER = 1,
    BL_RIGHTSTRIKER = 2,
    BL_LEFTDEFENDER = 3,
    BL_RIGHTDEFENDER = 4,
    BL_CENTRESTRIKER = 5,
    BL_CENTREDEFENDER = 6,
    NUM_POSITIONS = 7
  };

private:

  // Big calculations
  void CalculateHomePosition();
  double CalculateBallDistance();

  // semi-trivial helper methods:
  bool SearchForBall() { if (strcmp(currentTrick->GetName(),"SearchForBall")==0) return true; return false; }
  bool MoveToPoint() { if (strcmp(currentTrick->GetName(),"MoveToPoint")==0) return true; return false; }
  bool Chase() { if (strcmp(currentTrick->GetName(),"AdvancedChaseWithKick")==0 || strcmp(currentTrick->GetName(),"ChaseWithKick")==0) return true; return false; }
  bool InterruptibleChase() { if (Chase() && strcmp(currentTrick->GetErrorMsg(currentTrickResult),"INTERRUPTIBLE")==0) return true; return false; }
  bool NonInterruptibleChase() { if (Chase() && strcmp(currentTrick->GetErrorMsg(currentTrickResult),"INTERRUPTIBLE")!=0) return true; return false; }
  bool PostChaseSearchForBall() { if (strcmp(currentTrick->GetName(),"AdvancedChaseWithKick")==0 && strcmp(currentTrick->GetCurrentTrick()->GetName(),"PostChaseSearchForBall")==0) return true; return false; }

  bool IsBallVisible(); // can WE see the ball ?
  bool IsBallVisibleTeam(); // can ANYBODY see the ball ?
  bool IsBallVisibleTeamNotSelf(); // can anybody except me see the ball ?

  bool IsBallWithinChaseBounds();
  bool IsBallWithinEnlargedChaseBounds();
  bool IsSelfWithinChaseBounds();

  bool AmIAllowedToChase(double);
  int WhoIsClosestToBall();
  double ClosestToBallNotSelf();

  Trick* ConstructMoveToPointHead();

  // Captain code
  void MovePlayer(int currentPosition, int newPosition);
  void AllocatePositions(int notThisId, int position1, int position2);
  void RunCaptain();

  // Wireless code
  void CheckWireless();
  

  Utilities utils;
  bool inPlaying;
  bool inGoHome;
  bool debugOutput;
  bool oneInchPunch;
  int currentTrickResult;

  double lastBallDistance;

  double actualHomeX; // includes correction for where the ball currenty is
  double actualHomeY;
  int homeX; // home x determined by our captain
  int homeY;
  int homeRadius;
  int homeErrorDistance;

  int boundOffset;
  long timeOfLastChase;
  bool keeperRoaming;
  long watchingBallCounter;
  bool lastLookedLeft;


  // wireless / captain variables
  byte robotPosition[4]; // links botid-1 ---> positions (as in, the enum above)
  bool isCaptain;

  long lastSwitchTime;
  
  signed char myPosition;
  long lastReceivedTime[4];
  RobotRegion robotRegions[NUM_POSITIONS];
  NormalMessage othersNormal[4];
  CaptainMessage othersCaptain;
  int chaseUpperX;
  int chaseUpperY;
  int chaseLowerX;
  int chaseLowerY;

  // going home
  double xPosition;
  double yPosition;
  double headingDeg;
  double kickLeft;

  // used for debugging only
  char* previousTrick;
  long previousTrickFrame;

  bool nonStopSearch;
};

#endif // Sleek_H