penaltydecision.cpp

mersad源码 03年robocup 季军 可以研究一下大家

/*
 *  Copyright 2002-2004, Mersad Team, Allame Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  Created by: Mohammad Salehe
 *  Released on Friday 1 April 2005 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <cassert>

#include <Logger.h>
#include <Types.h>
#include <Command.h>
#include <BasicTurn.h>
#include <BasicDash.h>
#include <Dribble.h>
#include <SRPDribble.h>
#include <Shoot.h>
#include <NonPlayOn.h>
#include <Intercept.h>
#include <Degree.h>
#include <GroupWorks.h>
#include <PenaltyDecision.h>
#include <GoaliePositioning.h>
#include <GoalieIntercept.h>

using namespace std;

//#define PENALTY_DECISION_LOG

#define GOALIE_UNIFORM_NUM 11

#define GOALIE_CATCH_NUM 0
#define GOALIE_POSITIONING_NUM 1
#define GOALIE_INTERCEPT_NUM 2
#define GOTOKICK_NUM 3
#define DRIBBLE_NUM 4
#define SRPDRIBBLE_NUM 5
#define SHOOT_NUM 6
#define INTERCEPT_NUM 7

PenaltyDecision::PenaltyDecision(const WorldModel *worldModel,
				SayDecisionFlags &sayFlags, TurnNeckMode &turnNeckMode,
				Positioning positioning):
				BodyDecision(worldModel, sayFlags, turnNeckMode),
				withoutBallPlayOnDecision(worldModel, sayFlags,	turnNeckMode, 
				positioning)
{
	addAdvancedAction(new GoalieCatch(worldModel), //0
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new GoaliePositioning(worldModel), //1
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new GoalieIntercept(worldModel), //2
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new NonPlayOnGotoKick(worldModel), //3
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Dribble(worldModel), //4
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new SRPDribble(worldModel), //5
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Shoot(worldModel), //6
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Intercept(worldModel), //7
		AdvancedActionWeights(0, 1, 1), 1);
	doneFlag = false;
}

PenaltyDecision::~PenaltyDecision()
{
}

int PenaltyDecision::checkPlayMode()
{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY:chekcPlayMode" << endl;
#endif
	if (worldModel->getVirtualPlayMode() == VPM_PENALTY_ON_FIELD)
	{
#ifdef PENALTY_DECISION_LOG
LOG << "VPM_POFO -> rotate field" << endl;
#endif
		return 1;// Rotate Field Flags
	}
	if (worldModel->getVirtualPlayMode() == VPM_PENALTY_ON_FIELD_OPP)
	{
#ifdef PENALTY_DECISION_LOG
LOG << "VPM_POFO_OPP -> goalie rotate field" << endl;
#endif
		return 2;// Rotate Field Flags ONLY for goalie
	}
	if (worldModel->getPlayMode() == PM_PENALTY_READY &&
		(worldModel->getVirtualPlayMode() == VPM_PENALTY_MISS ||
		worldModel->getVirtualPlayMode() == VPM_PENALTY_MISS_OPP ||
		worldModel->getVirtualPlayMode() == VPM_PENALTY_SCORE ||
		worldModel->getVirtualPlayMode() == VPM_PENALTY_SCORE_OPP))
	{
		doneFlag = true;
	}
	return 0;
}

DecideType PenaltyDecision::decide(int quickLevel, DecideType lastDecide)
{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY:doneFlag = " << doneFlag << endl;
#endif
	resetValues();
	resetQuickLevels();
	if (worldModel->getBody().isGoalie())
		turnNeckMode = TNM_LOOK_CAREFULLY_TO_BALL;
	else
		turnNeckMode = TNM_LOOK_CAREFULLY_TO_OPP_GOALIE;

	switch (worldModel->getPlayMode())
	{
	case PM_PENALTY_SETUP:
		doneFlag = false;
		if (selectBallKicker() == 1)
		{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: Setup 1 1" << endl;
#endif
			Point setupPoint;
			if (worldModel->getBody().isGoalie())
			{
				setupPoint.x = -55;
				setupPoint.y = -22;
			}
			else
			{
				setupPoint.x = Degree::cos(worldModel->getBody().getUniNum() * 14 + 90) * 5;
				setupPoint.y = Degree::sin(worldModel->getBody().getUniNum() * 14 + 90) * 5;
			}
			ExactGotoPoint doGotoPoint(setupPoint, 1, worldModel->getBody());
			command = doGotoPoint.getCommand();
			if (command == NULL)
				command = new EmptyCommand();

			return DT_NONE;
		}				
		else
		{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: Setup 1 2" << endl;
#endif
			advancedActions[GOTOKICK_NUM]->getValue();
			advancedActions[GOTOKICK_NUM]->execute(sayFlags);
			command = advancedActions[GOTOKICK_NUM]->getCommand();
			return advancedActions[GOTOKICK_NUM]->getType();
		}
		break;
		
	case PM_PENALTY_SETUP_OPP:
		doneFlag = false;
		{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: SetupOpp 1 1" << endl;
#endif
			Point setupPoint;
			if (worldModel->getBody().isGoalie())
			{
				setupPoint.x = -40;
				setupPoint.y = 0;
			}
			else
			{
				setupPoint.x = Degree::cos(worldModel->getBody().getUniNum() * 14 + 90) * 5;
				setupPoint.y = Degree::sin(worldModel->getBody().getUniNum() * 14 + 90) * 5;
			}
			ExactGotoPoint doGotoPoint(setupPoint, 1, worldModel->getBody());
			command = doGotoPoint.getCommand();
			if (command == NULL)
				command = new EmptyCommand();
			return DT_NONE;
			break;
		}
		
	case PM_PENALTY_READY:
		if (doneFlag)
		{
			command = new EmptyCommand();
			return DT_NONE;
		}
			
		if (selectBallKicker() == 2)
		{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: Ready 1 1" << endl;
#endif
			// Do a WithBall or WithoutBall Action
			if (!worldModel->getBall().isValid())
			{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: Ready 1 2" << endl;
#endif
#ifdef PENALTY_DECISION_LOG
LOG << "Penalty:Looking for ball." << endl;
#endif
				command = new TurnCommand(45);
			}
//			else if (worldModel->getBody().isGoalie())
//			{
//#ifdef PENALTY_DECISION_LOG
//LOG << "PENALTY: Ready 1 3" << endl;
//#endif
//				assert(1 == 2);
//				// Goalie Penalty kicker (does come here?)
//			}
			else if (worldModel->isBallKickable())
			{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: Ready 1 4" << endl;
#endif
				quickLevels[DRIBBLE_NUM] = 1;
				quickLevels[SRPDRIBBLE_NUM] = 0;
				quickLevels[SHOOT_NUM] = 1;
//				LOG << "SALEHELOG 0" << endl;
				return BodyDecision::decide(quickLevel);
			}
			else
			{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: Ready 1 5" << endl;
#endif
				DecideType tempDecideType;
				tempDecideType = withoutBallPlayOnDecision.decide(quickLevel,
						lastDecide, WOBS_INTERCEPT);
				command = withoutBallPlayOnDecision.getCommand();
				if (worldModel->getBody().isGoalie())
					turnNeckMode = TNM_LOOK_CAREFULLY_TO_BALL;
				else
					turnNeckMode = TNM_LOOK_CAREFULLY_TO_OPP_GOALIE;
				return tempDecideType;
			}
		}
		else
		{
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: Ready 2 1" << endl;
#endif
			command = new EmptyCommand();
			return DT_NONE;
		}
		break;
		
	case PM_PENALTY_READY_OPP:
#ifdef PENALTY_DECISION_LOG
LOG << "PENALTY: ReadyOpp 1 1" << endl;
#endif
		if (worldModel->getBody().isGoalie())
		{
			quickLevels[GOALIE_CATCH_NUM] = 2;
			if (worldModel->getCurInterCalculate().existFastestTmmPlayer() &&
				worldModel->getCurInterCalculate().getFastestTmmPlayer().isBody())
			{ // Intercept
				quickLevels[GOALIE_INTERCEPT_NUM] = 1;
			}
			else
			{ // Positioning
				quickLevels[GOALIE_POSITIONING_NUM] = 1;
			}
			BodyDecision::decide(quickLevel);
			if (worldModel->getBody().isGoalie())
				turnNeckMode = TNM_LOOK_CAREFULLY_TO_BALL;
			else
				turnNeckMode = TNM_LOOK_CAREFULLY_TO_OPP_GOALIE;
		}
		else
		{
			command = new EmptyCommand();
			return DT_NONE;
		}
		break;
		
	default:
		command = new EmptyCommand();
		return DT_NONE;
		break;
	}

	return DT_NONE;
}

int PenaltyDecision::selectBallKicker()
{
	if (worldModel->getBody().getUniNum() == 3)
		return 2;
	else
		return 1;
}