withoutballplayondecision.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 <Block.h>
#include <Tackle.h>
#include <Defense.h>
#include <Offense.h>
#include <Intercept.h>
#include <GoaliePositioning.h>
#include <WithoutBallPlayOnDecision.h>


#define TACKLE_NUM 0
#define BLOCK_NUM 1
#define DEFENSE_NUM 2
#define OFFENSE_NUM 3
#define DRIBBLE_INTERCEPT_NUM 4
#define INTERCEPT_NUM 5


WithoutBallPlayOnDecision::WithoutBallPlayOnDecision(
		const WorldModel *worldModel, SayDecisionFlags &sayFlags,
		TurnNeckMode &turnNeckMode, const Positioning &positioning):
		BodyDecision(worldModel, sayFlags, turnNeckMode)
{
	addAdvancedAction(new Tackle(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Block(worldModel, positioning),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Defense(worldModel, positioning),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Offense(worldModel, positioning),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new DribbleIntercept(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Intercept(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
}

WithoutBallPlayOnDecision::~WithoutBallPlayOnDecision()
{
}

DecideType WithoutBallPlayOnDecision::decide(int quickLevel,
		DecideType lastDecide, WithoutBallSelection selection)
{
	resetQuickLevels();

	quickLevels[TACKLE_NUM] = 2;
	dynamic_cast<Tackle *>(advancedActions[TACKLE_NUM])->
			giveLastDecide(lastDecide);

	switch (selection)
	{
	case WOBS_BLOCK:
		quickLevels[DEFENSE_NUM] = 1;

		quickLevels[BLOCK_NUM] = 2;
		dynamic_cast<Block *>(advancedActions[BLOCK_NUM])->
				giveLastDecide(lastDecide);

		turnNeckMode = TNM_AUTO_PLAY_ON;

		break;

	case WOBS_INTERCEPT:
		quickLevels[INTERCEPT_NUM] = 1;
		if (lastDecide == DT_DRIBBLE || lastDecide == DT_SRPDRIBBLE ||
			lastDecide == DT_DRIBBLE_INTERCEPT)
			quickLevels[DRIBBLE_INTERCEPT_NUM] = 2;

		dynamic_cast<Intercept *>(advancedActions[INTERCEPT_NUM])->
				giveLastDecide(lastDecide);

		turnNeckMode = TNM_AUTO_PLAY_ON;

		break;

	case WOBS_POSITIONING:
		quickLevels[DEFENSE_NUM] = 1;

		turnNeckMode = TNM_AUTO_PLAY_ON;

		break;
	}

	return BodyDecision::decide(quickLevel);
}