nonplayondecision.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 <math.h>

#include <Logger.h>
#include <Types.h>
#include <Command.h>
#include <BasicTurn.h>
#include <BasicKick.h>
#include <BasicDash.h>
#include <Pass.h>
#include <Shoot.h>
#include <NonPlayOn.h>
#include <Offense.h>
#include <Defense.h>
#include <NonPlayOnDecision.h>
#include <Intercept.h>
#include <GoaliePositioning.h>

using namespace std;

#define NON_PLAY_ON_DECISION_LOG1
#define NON_PLAY_ON_DECISION_LOG2

#define GOALIE_UNIFORM_NUM 1
#define FREE_KICK_ADVICER 5

#define GOTOKICK_NUM 0
#define BACKBALL_NUM 1
#define BEFOREKICKOFF_NUM 2
#define DEFENSE_NUM 3
#define OFFENSE_NUM 4 
#define PASS_NUM 5
#define SHOOT_NUM 6
#define INTERCEPT_NUM 7
#define GOALIE_POSITIONING_NUM 8
#define GOALIE_CATCH_OFFENSE_NUM 9

// NOTE : All of player numbers in this file are Uniform Numbers (not Post Numbers)

NonPlayOnDecision::NonPlayOnDecision(const WorldModel *worldModel,
				const Positioning &positioning, SayDecisionFlags &sayFlags,
				TurnNeckMode &turnNeckMode):
				BodyDecision(worldModel, sayFlags, turnNeckMode)
{
	addAdvancedAction(new NonPlayOnGotoKick(worldModel), //0
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new NonPlayOnBackBall(worldModel), //1
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new NonPlayOnBeforeKickOff(worldModel), //2
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Defense(worldModel, positioning), //3
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Offense(worldModel, positioning), //4
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Pass(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);
	addAdvancedAction(new GoaliePositioning(worldModel), //8
		AdvancedActionWeights(0, 1, 1), 0);
	addAdvancedAction(new GoalieCatchOffense(worldModel), //9
		AdvancedActionWeights(0, 1, 1), 0);

	dynamic_cast<Pass *>(advancedActions[PASS_NUM])->
			setCurKickCalculate(&worldModel->getCurKickCalculate());
}

NonPlayOnDecision::~NonPlayOnDecision()
{
}

DecideType NonPlayOnDecision::decide(int quickLevel)
{
	Point positions[11];
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NonPlayOnDecision" << endl;
#endif

	turnNeckMode = TNM_LOOK_NORMALLY;
	sayFlags.reset();
	if (DefenseOffenseChoice() == 0)
	{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NonPlayOnDecision Returning empty" << endl;
#endif
		command = new EmptyCommand();
		return DT_NONE;
	}

	resetQuickLevels();
	command = NULL;	
	getCurrentHomePoints(positions);

	switch (worldModel->getPlayMode())
	{
	case PM_BEFORE_KICK_OFF:
	case PM_GOAL:
	case PM_GOAL_OPP:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE1" << endl;
#endif
		if (selectBallKicker(positions) == 1)
			dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->
				setIsKicker(false);
		else
			dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->
				setIsKicker(true);
		advancedActions[BEFOREKICKOFF_NUM]->getValue();
		advancedActions[BEFOREKICKOFF_NUM]->execute(sayFlags);
		command = advancedActions[BEFOREKICKOFF_NUM]->getCommand();
		return advancedActions[BEFOREKICKOFF_NUM]->getType();
		break;
		
	case PM_KICK_OFF:  
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE2" << endl;
#endif
		if (selectBallKicker(positions) == 1)
		{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE2 1" << endl;
#endif
			if (selectBallKicker(positions) == 1)
				dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->
					setIsKicker(false);
			else
				dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->
					setIsKicker(true);
			advancedActions[BEFOREKICKOFF_NUM]->getValue();
			advancedActions[BEFOREKICKOFF_NUM]->execute(sayFlags);
			command = advancedActions[BEFOREKICKOFF_NUM]->getCommand();
			return advancedActions[BEFOREKICKOFF_NUM]->getType();
		}
		else
		{
			turnNeckMode = TNM_LOOK_CAREFULLY;
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE2 2" << endl;
#endif
			advancedActions[GOTOKICK_NUM]->getValue();
			if (dynamic_cast<NonPlayOnGotoKick *>(advancedActions[GOTOKICK_NUM])
					->getStatus() == 1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE2 3" << endl;
#endif
				advancedActions[GOTOKICK_NUM]->execute(sayFlags);
				command = advancedActions[GOTOKICK_NUM]->getCommand();
				return advancedActions[GOTOKICK_NUM]->getType();
			}
			else if (backBallChoice() == 1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE2 4" << endl;
#endif
				// No need to the following line
				if (advancedActions[GOTOKICK_NUM]->getCommand())
					delete advancedActions[GOTOKICK_NUM]->getCommand();
				quickLevels[PASS_NUM] = 1;
				quickLevels[SHOOT_NUM] = 1;
				sayFlags.reset();
				return BodyDecision::decide(quickLevel);
			}
			else
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE2 5" << endl;
#endif
				// No need to the following line
				if (advancedActions[GOTOKICK_NUM]->getCommand())
					delete advancedActions[GOTOKICK_NUM]->getCommand();
				advancedActions[BACKBALL_NUM]->getValue();
				advancedActions[BACKBALL_NUM]->execute(sayFlags);
				command = advancedActions[BACKBALL_NUM]->getCommand();
				return advancedActions[BACKBALL_NUM]->getType();
			}
		}
		break;

	case PM_KICK_OFF_OPP:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE3" << endl;
#endif
		if (selectBallKicker(positions) == 1)
			dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->
				setIsKicker(false);
		else
			dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->
				setIsKicker(true);
		advancedActions[BEFOREKICKOFF_NUM]->getValue();
		advancedActions[BEFOREKICKOFF_NUM]->execute(sayFlags);
		command = advancedActions[BEFOREKICKOFF_NUM]->getCommand();
		return advancedActions[BEFOREKICKOFF_NUM]->getType();
		break;

	case PM_FREE_KICK:
	case PM_KICK_IN:
	case PM_CORNER_KICK:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4" << endl;
#endif
		selectBallKickerSay(positions);
		if (selectBallKicker(positions) == 1)
		{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 1" << endl;
#endif
			if (worldModel->getBody().isGoalie())
			{
				advancedActions[GOALIE_POSITIONING_NUM]->getValue();
				advancedActions[GOALIE_POSITIONING_NUM]->execute(sayFlags);
				command = advancedActions[GOALIE_POSITIONING_NUM]->getCommand();
				return advancedActions[GOALIE_POSITIONING_NUM]->getType();
			}
			else
			{	
				if (!worldModel->getBody().isGoalie() &&
					worldModel->getPlayMode() == PM_FREE_KICK &&
					worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)
				{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 1 2" << endl;
#endif
					advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getValue();
					advancedActions[GOALIE_CATCH_OFFENSE_NUM]->
						execute(sayFlags);
					command = advancedActions[GOALIE_CATCH_OFFENSE_NUM]->
						getCommand();
					return advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getType();
				}
				advancedActions[OFFENSE_NUM]->getValue();
				advancedActions[OFFENSE_NUM]->execute(sayFlags);
				command = advancedActions[OFFENSE_NUM]->getCommand();
				return advancedActions[OFFENSE_NUM]->getType();
			}
		}
		else
		{
			turnNeckMode = TNM_LOOK_CAREFULLY;
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 2" << endl;
#endif
			if (worldModel->getBody().isGoalie() &&
				worldModel->getPlayMode() == PM_FREE_KICK &&
				worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 3 1" << endl;
#endif
				if (backBallChoice() == 1)
				{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 3 1 1" << endl;
#endif
					advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getValue();
					advancedActions[GOALIE_CATCH_OFFENSE_NUM]->execute(sayFlags);
					if (dynamic_cast<GoalieCatchOffense *>
							(advancedActions[GOALIE_CATCH_OFFENSE_NUM])->
							getStatus() == 1)
					{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 3.2" << endl;
#endif
						command = advancedActions[GOALIE_CATCH_OFFENSE_NUM]->
							getCommand();
						return advancedActions[GOALIE_CATCH_OFFENSE_NUM]->
							getType();
					}
					else
					{
						if (worldModel->getPlayMode() == PM_FREE_KICK &&
							worldModel->getVirtualPlayMode() == 
							VPM_GOALIE_CATCH_BALL)
						{
							Point virtualPassPoint(-33, 28);
							
							LOG << "NPP FKick to " << virtualPassPoint << endl;
							command = FastKickToPoint(virtualPassPoint,
							worldModel->getBall(), worldModel->getBody()).
								getCommand();
							LOG << "NPO cmd:" << command->toString() << endl;

							sayFlags.interceptNum = 6;
							sayFlags.beforePassSay = true;
							sayFlags.freeKickSay = false;
							return DT_PASS;
						}
						delete advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getCommand();
						quickLevels[PASS_NUM] = 1;
						sayFlags.reset();
						return BodyDecision::decide(quickLevel);
					}
				}
				else
				{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 3 1 2" << endl;
#endif
					advancedActions[BACKBALL_NUM]->getValue();
					advancedActions[BACKBALL_NUM]->execute(sayFlags);
					command = advancedActions[BACKBALL_NUM]->getCommand();
					return advancedActions[BACKBALL_NUM]->getType();
				}
				break;
			}
			advancedActions[GOTOKICK_NUM]->getValue();
			if (dynamic_cast<NonPlayOnGotoKick *>(advancedActions[GOTOKICK_NUM])
					->getStatus() == 1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 3" << endl;
#endif
				advancedActions[GOTOKICK_NUM]->execute(sayFlags);
				command = advancedActions[GOTOKICK_NUM]->getCommand();
				return advancedActions[GOTOKICK_NUM]->getType();
			}
			else if (backBallChoice() == 1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 4" << endl;
#endif
				// No need to the following line
				if (advancedActions[GOTOKICK_NUM]->getCommand())
					delete advancedActions[GOTOKICK_NUM]->getCommand();
				quickLevels[PASS_NUM] = 1;
				quickLevels[SHOOT_NUM] = 1;
				if (worldModel->getPlayMode() == PM_FREE_KICK &&
					worldModel->getVirtualPlayMode() == VPM_INDIRECT_FREE_KICK)
				{
					quickLevels[SHOOT_NUM] = -1;
				}
				sayFlags.reset();
				return BodyDecision::decide(quickLevel);
			}
			else
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE4 5" << endl;
#endif
				// No need to the following line
				if (advancedActions[GOTOKICK_NUM]->getCommand())
					delete advancedActions[GOTOKICK_NUM]->getCommand();
				advancedActions[BACKBALL_NUM]->getValue();
				advancedActions[BACKBALL_NUM]->execute(sayFlags);
				command = advancedActions[BACKBALL_NUM]->getCommand();
				return advancedActions[BACKBALL_NUM]->getType();
			}
		}
		break;

	case PM_FREE_KICK_OPP:
	case PM_KICK_IN_OPP:
	case PM_CORNER_KICK_OPP:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE5" << endl;
#endif
		if (worldModel->getBody().isGoalie())
		{
			advancedActions[GOALIE_POSITIONING_NUM]->getValue();
			advancedActions[GOALIE_POSITIONING_NUM]->execute(sayFlags);
			command = advancedActions[GOALIE_POSITIONING_NUM]->getCommand();
			return advancedActions[GOALIE_POSITIONING_NUM]->getType();
		}
		else
		{	
			advancedActions[DEFENSE_NUM]->getValue();
			advancedActions[DEFENSE_NUM]->execute(sayFlags);
			command = advancedActions[DEFENSE_NUM]->getCommand();
			return advancedActions[DEFENSE_NUM]->getType();
		}
		break;