saydecision.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: Ahmad Boorghany
 *  Released on Friday 1 April 2005 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <cmath>
#include <string>

#include <Logger.h>
#include <Command.h>
#include <Defines.h>
#include <SayEncoding.h>
#include <SayDecision.h>


using namespace std;


// struct SayDecisionFlags

SayDecisionFlags::SayDecisionFlags()
{
	reset();
}

void SayDecisionFlags::reset()
{
	beforePassSay = false;
	suggestPassSay = false;
	interceptNum = 0;
	attentionNum = 0;
	requestPassSayNum = 0;
	freeKickSay = false;
}

void SayDecisionFlags::decideReset()
{
	beforePassSay = false;
	suggestPassSay = false;
	interceptNum = 0;
	requestPassSayNum = 0;
	freeKickSay = false;
}


// class SayDecision

SayDecision::SayDecision(const WorldModel *worldModel):
		worldModel(worldModel)
{
}

SayDecision::~SayDecision()
{
}

SayDecisionFlags &SayDecision::setSayFlags()
{
	return sayFlags;
}

SayDecisionFlags &SayDecision::getSayFlags()
{
	return sayFlags;
}

void SayDecision::decide(const Command *bodyCycleCommand,
		unsigned gwInterceptNum)
{
	LOG << "SayDecision::decide" << endl;

	unsigned attentionNum;

	if (sayFlags.attentionNum)
		attentionNum = sayFlags.attentionNum;
	else if (gwInterceptNum != 0 &&
		gwInterceptNum != worldModel->getBody().getUniNum())
	{
		if (gwInterceptNum <= FULL_PLAYERS_NUM)
			attentionNum = gwInterceptNum;
		else
			attentionNum = (gwInterceptNum - FULL_PLAYERS_NUM);
	}
	else
	{
		float min = 0xFFFF;
		unsigned miner = NOVALUE;

		for (unsigned i = 0; i < FULL_PLAYERS_NUM; i++)
			if (worldModel->getFullPlayer(TID_TEAMMATE, i).isValid() &&
				!worldModel->getFullPlayer(TID_TEAMMATE, i).isBody())
				if (miner == NOVALUE ||
					worldModel->getFullPlayer(TID_TEAMMATE, i).getDistance(
						worldModel->getBall()) < min)
				{
					miner = i;
					min = worldModel->getFullPlayer(TID_TEAMMATE, i).getDistance(
							worldModel->getBall());
				}

		if (miner == NOVALUE)
			attentionNum = 9;
		else
			attentionNum = miner + 1;
	}

	attentionCommand = new AttentionToCommand(TID_TEAMMATE, attentionNum);

	if (sayFlags.freeKickSay)
	{
		sayFreeKick();
	}
	
	else if (sayFlags.beforePassSay)
	{
		unsigned playerNum = sayFlags.interceptNum;
		if (playerNum > 11)
			playerNum -= 11;

/*		if (playerNum !=  0 &&
			worldModel->getFullPlayer(TID_TEAMMATE, playerNum - 1).
					getPosDeviation() < 4 &&
			fabs(worldModel->getBall().getPos().getX() -
				worldModel->getFullPlayer(TID_TEAMMATE, playerNum - 1).
						getPos().getX()) < RELATED_PLAYER_X_RANGE &&
			fabs(worldModel->getBall().getPos().getY() -
				worldModel->getFullPlayer(TID_TEAMMATE, playerNum - 1).
						getPos().getY()) < RELATED_PLAYER_Y_RANGE)
			sayBeforePassRelated(bodyCycleCommand);
		else*/
			sayBeforePass(bodyCycleCommand);
	}

	else if (sayFlags.suggestPassSay)
		saySuggestPass();

	else if (getSayRoutinBallPermission())
	{
		sayFlags.interceptNum = gwInterceptNum;
		sayRoutinBall(bodyCycleCommand);
	}

	else if (sayFlags.requestPassSayNum)
	{
		sayFlags.interceptNum = gwInterceptNum;
		sayRequestPassSayWithoutBall(bodyCycleCommand);
	}

	else
		sayCommand = new EmptyCommand();
}

void SayDecision::sayBeforePass(const Command *bodyCycleCommand)
{
	string str = "A"; // BeforePass say flag

	Body nextBody(worldModel->getBody());
	nextBody.simulateByAction(bodyCycleCommand);
	nextBody.simulateByDynamics();

	Ball nextBall(worldModel->getBall());
	nextBall.simulateByAction(worldModel->getBody(), bodyCycleCommand);
	nextBall.simulateByDynamics(nextBody, 1);

	SayEncoding::encodeObjectPosition(nextBall.getPos().getX(),
			nextBall.getPos().getY(), str);
	SayEncoding::encodeObjectVelocity(nextBall.getVel().getMagnitude(),
			nextBall.getVel().getDirection(), str);
	
	str += SayEncoding::sayCodeKey[sayFlags.interceptNum];

	sayCommand = new SayCommand(str);
}

void SayDecision::sayBeforePassRelated(const Command *bodyCycleCommand)
{
	string str = "B"; // BeforePass say flag

	unsigned playerNum = sayFlags.interceptNum;
	if (playerNum > 11)
		playerNum -= 11;

	Player nextPlayer(worldModel->getFullPlayer(TID_TEAMMATE, playerNum - 1));
	nextPlayer.simulateByDynamics(worldModel->getBody());

	Ball nextBall(worldModel->getBall());
	nextBall.simulateByAction(worldModel->getBody(), bodyCycleCommand);
	nextBall.simulateByDynamics(worldModel->getBody());

	SayEncoding::encodeObjectPosition(
			nextBall.getPos().getX() - nextPlayer.getPos().getX(),
			nextBall.getPos().getY() - nextPlayer.getPos().getY(), str);
	SayEncoding::encodeObjectVelocity(nextBall.getVel().getMagnitude(),
			nextBall.getVel().getDirection(), str);

	str += SayEncoding::sayCodeKey[sayFlags.interceptNum];

	sayCommand = new SayCommand(str);
}

void SayDecision::sayRoutinBall(const Command *bodyCycleCommand)
{
	string str = "Z"; // RoutinBall say flag

	Body nextBody(worldModel->getBody());
	nextBody.simulateByAction(bodyCycleCommand);
	nextBody.simulateByDynamics();

	Ball nextBall(worldModel->getBall());
	nextBall.simulateByAction(worldModel->getBody(), bodyCycleCommand);
	nextBall.simulateByDynamics(nextBody, 1);

	SayEncoding::encodeObjectPosition(nextBall.getPos().getX(),
			nextBall.getPos().getY(), str);
	SayEncoding::encodeObjectVelocity(nextBall.getVel().getMagnitude(),
			nextBall.getVel().getDirection(), str);

	str += SayEncoding::sayCodeKey[sayFlags.interceptNum];
	str += SayEncoding::sayCodeKey[sayFlags.requestPassSayNum];

	if (worldModel->isBallKickable())
		str += SayEncoding::sayCodeKey[1];
	else
		str += SayEncoding::sayCodeKey[0];

	sayCommand = new SayCommand(str);
}

void SayDecision::sayRequestPassSayWithoutBall(const Command *bodyCycleCommand)
{
	string str = "Y"; // RoutinBall say without ball flag

	str += SayEncoding::sayCodeKey[sayFlags.interceptNum];
	str += SayEncoding::sayCodeKey[sayFlags.requestPassSayNum];

	if (worldModel->isBallKickable())
		str += SayEncoding::sayCodeKey[1];
	else
		str += SayEncoding::sayCodeKey[0];

	sayCommand = new SayCommand(str);
}

bool SayDecision::getSayRoutinBallPermission()
{
	if (worldModel->getBall().getSeeTime() == worldModel->getCurTime() &&
		worldModel->getBall().getVelSeeTime() == worldModel->getCurTime())
		return true;
	return false;
}

void SayDecision::saySuggestPass()
{
	string str = "C"; // SuggestPass say flag

	SayEncoding::encodeObjectVelocity(sayFlags.passSpeed,
			sayFlags.passDir, str);

	SayEncoding::encodeWeight(sayFlags.passWeight, -50, 150, str);

	str += SayEncoding::sayCodeKey[sayFlags.passPlayerNum];

	sayCommand = new SayCommand(str);
}

void SayDecision::sayFreeKick()
{
	string str = "F"; // freeKick say flag

//	LOG << "SayDecision:: sayFreeKick advice number=" << sayFlags.freeKickAdviceNumber << endl;
	
	str += SayEncoding::sayCodeKey[sayFlags.freeKickAdviceNumber];

	sayCommand = new SayCommand(str);
}

Command *SayDecision::getSayCommand()
{
	return sayCommand;
}

Command *SayDecision::getAttentionCommand()
{
	return attentionCommand;
}