groupworks.cpp

mersad源码 03年robocup 季军 可以研究一下大家

		return;
	}

	bool setFlag = false;

	LOG << "suggested interceptNum: " << uniNum << endl;

	if (sender == interceptNum ||
		sender == worldModel->getBody().getUniNum())
		setFlag = true;
	else if (!uniNum)
		return; // No suggestion.

	else if (uniNum == worldModel->getBody().getUniNum())
		setFlag = true;

	else if (worldModel->getFullPlayer(TID_TEAMMATE, uniNum - 1).getPosDeviation() > 2 ||
			 worldModel->getFullPlayer(TID_TEAMMATE, interceptNum - 1).getPosDeviation() > 2)
		setFlag = true;

	if (setFlag)
	{
		if (uniNum <= 11) // GoToBall Mode
		{
			interceptNum = uniNum;
			interceptBlock = false;
			interceptSay = true;
		}
		else // Block Mode
		{
			interceptNum = uniNum - 11;
			interceptBlock = true;
			interceptSay = true;
		}

		LOG << "setting interceptNum (Bl, Sy, Pn):"
			<< " " << interceptBlock
			<< " " << interceptSay
			<< " " << interceptNum << endl;
	}
}

WithoutBallSelection GroupWorks::getWithoutBallSelection(
		DecideType lastWithBallDecide) const
{
	WithoutBallSelection selection;

	if (isLastWithBallDecideValid() &&
		lastWithBallDecide == DT_SRPDRIBBLE)
			selection = WOBS_INTERCEPT;
	else
	{
		if (interceptNum == worldModel->getBody().getUniNum())
		{
			if (interceptBlock)
				selection = WOBS_BLOCK;
			else
   				selection = WOBS_INTERCEPT;
		}
		else
			selection = WOBS_POSITIONING;

		if (!getChangeInterceptNumPermission())
		{
			LOG << "GroupWorks::getWithoutBallSelection > return: "
				<< selection << endl;

			return selection;
		}

		if (selection == WOBS_POSITIONING && 
			(worldModel->getBallStatus() == BS_FREE_BALL_BODY /*||
			worldModel->getBallStatus() == BS_FREE_BALL_BODY_TMM*/))
			selection = WOBS_INTERCEPT;
 
		if (selection == WOBS_INTERCEPT)	
		{
			if (worldModel->getBallStatus() == BS_KICKABLE_OPP || 
				worldModel->getBallStatus() == BS_FREE_BALL_OPP)
				selection = WOBS_BLOCK;
		
			if (worldModel->getBody().getPostNum() <= 5 ||
				worldModel->getBody().getPostNum() == 8)
				if (worldModel->getBallStatus() == BS_FREE_BALL_BODY_OPP ||
					 worldModel->getBallStatus() == BS_FREE_BALL_TMM_OPP)
					selection = WOBS_BLOCK;
		}
		LOG << "SALAM man asabaniam : " << (bool)(worldModel->getBallStatus() 
			== BS_FREE_BALL_TMM_OPP) << endl;
		if (selection == WOBS_POSITIONING &&
			(worldModel->getBody().getPostNum() <= 5 ||
				(worldModel->getBody().getPostNum() == 8 && worldModel->getBall().getPos().getX() < 5)))
		{
			if (worldModel->getBallStatus() == BS_KICKABLE_OPP || 
				worldModel->getBallStatus() == BS_FREE_BALL_OPP ||
				worldModel->getBallStatus() == BS_FREE_BALL_BODY_OPP ||
				worldModel->getBallStatus() == BS_FREE_BALL_TMM_OPP)
			{
				float homeDeltaX = worldModel->getBall().getPos().getX() - 
								positioning.getHomePoint(
								worldModel->getBody().getUniNum()).x;
							
				float homeDeltaY = worldModel->getBall().getPos().getY() - 
								positioning.getHomePoint(
								worldModel->getBody().getUniNum()).y;
			
				LOG << "Intelligent Section of GrourWorks :-----------------------------------" << endl;
				LOG << "DeltaX : " << homeDeltaX << endl;
				LOG << "DeltaY : " << homeDeltaY << endl;
				LOG << "----------------------------------------------------------------------" << endl;
			
				if (worldModel->getBody().getPostNum() == 2)
					if (homeDeltaY < 6 && (homeDeltaX < 8 || 
							worldModel->getBody().getPos().getX() > 
							worldModel->getBall().getPos().getX()))
					{
						LOG << "intelligent su.. " << endl;		
						selection = WOBS_BLOCK;
					}

				if (worldModel->getBody().getPostNum() == 3)
					if (fabs(homeDeltaY) < 6 && (homeDeltaX < 6 || 
							worldModel->getBody().getPos().getX() > 
							worldModel->getBall().getPos().getX()))
					{
						LOG << "intelligent su.. " << endl;		
						selection = WOBS_BLOCK;
					}

				if (worldModel->getBody().getPostNum() == 4)
					if (fabs(homeDeltaY) < 6 && (homeDeltaX < 6 || 
							worldModel->getBody().getPos().getX() > 
							worldModel->getBall().getPos().getX()))
					{
						LOG << "intelligent su.. " << endl;		
						selection = WOBS_BLOCK;
					}

				if (worldModel->getBody().getPostNum() == 5)
					if (homeDeltaY > -6 && (homeDeltaX < 8 || 
							worldModel->getBody().getPos().getX() > 
							worldModel->getBall().getPos().getX()))
					{
						LOG << "intelligent su.. " << endl;		
						selection = WOBS_BLOCK;
					}

				if (worldModel->getBody().getPostNum() == 8)
					if (fabs(homeDeltaY) < 12 && (homeDeltaX < 6 || 
							worldModel->getBody().getPos().getX() > 
							worldModel->getBall().getPos().getX()))
					{
						LOG << "intelligent su.. " << endl;		
						selection = WOBS_BLOCK;
					}
			}
		}
	}





//////////////////////////BLOCK FOR 6 & 7 : begin
	if (selection == WOBS_POSITIONING &&
		(worldModel->getBody().getPostNum() == 6 ||
			worldModel->getBody().getPostNum() == 7))
	{
		if (worldModel->getBallStatus() == BS_KICKABLE_OPP || 
			worldModel->getBallStatus() == BS_FREE_BALL_OPP ||
			worldModel->getBallStatus() == BS_FREE_BALL_BODY_OPP ||
			worldModel->getBallStatus() == BS_FREE_BALL_TMM_OPP)
		{
			Point localHomePoint;
			localHomePoint = positioning.getHomePoint(
							worldModel->getBody().getUniNum());

			float homeDeltaX = worldModel->getBall().getPos().getX() - 
							localHomePoint.x;
						
			float homeDeltaY = worldModel->getBall().getPos().getY() - 
							localHomePoint.y;
			
			LOG << "Intelligent Section of GrourWorks :-----------------------------------" << endl;
			LOG << "DeltaX : " << homeDeltaX << endl;
			LOG << "DeltaY : " << homeDeltaY << endl;
			LOG << "----------------------------------------------------------------------" << endl;
			if (worldModel->getBody().getPostNum() == 6 && 
				worldModel->getBall().getPos().getY() > 4.5 && 
				homeDeltaX > -10 && 
				(localHomePoint.x - worldModel->getBody().getPos().getX()) > -14			
				&& homeDeltaY > -10)
			{
				LOG << "intelligent su.. " << endl;		
				selection = WOBS_BLOCK;
			}

			if (worldModel->getBody().getPostNum() == 7 && 
				worldModel->getBall().getPos().getY() < -4.5 && 
				homeDeltaX > -10 && 
				(localHomePoint.x - worldModel->getBody().getPos().getX()) > -14
				&& homeDeltaY > -10)			
				
			{
				LOG << "intelligent su.. " << endl;		
				selection = WOBS_BLOCK;
			}
		}
	}
//////////////////////////BLOCK FOR 6 & 7 : end

	LOG << "GroupWorks::getWithoutBallSelection > return: "
		<< selection << endl;

	return selection;
}

unsigned GroupWorks::getInterceptNumForSay()
{
	if (interceptNum == 0)
		return 0;

	if ((interceptNum == worldModel->getBody().getUniNum() ||
		 worldModel->getFullPlayer(TID_TEAMMATE, interceptNum - 1).
		 		getPosDeviation() < 2) &&
		worldModel->getBall().getPosDeviation() < 2 && interceptSay)
	{
		if (interceptBlock)
			return interceptNum + 11; // It means Block Mode
		else
			return interceptNum;
	}

	return  0; // I reset it because I am not sure.
}

bool GroupWorks::getChangeInterceptNumPermission() const
{
	if (worldModel->getCurTime() - lastPassHearTime > 3 ||
		interceptNum == 0)
		return true;
	return false;
}

bool GroupWorks::isLastWithBallDecideValid() const
{
	return lastWithBallDecideValidFlag;
}

void GroupWorks::setLastWithBallDecideValid(bool lastWithBallDecideValidFlagArg)
{
	lastWithBallDecideValidFlag = lastWithBallDecideValidFlagArg;
}

void GroupWorks::checkForLastWithBallDecideValid()
{
	if (worldModel->getBallStatus() == BS_KICKABLE_TMM ||
		worldModel->getBallStatus() == BS_KICKABLE_OPP ||
		worldModel->getBallStatus() == BS_KICKABLE_TMM_OPP)
		setLastWithBallDecideValid(false);

}

void GroupWorks::suggestPassSayManager()
{
	LOG << "GroupWorks::suggestPassSayManager" << endl;

	turnNeckMode = TNM_LOOK_NORMALLY_TO_BALL;
	sayFlags.attentionNum = hearedRequestPassSender;

	if (worldModel->getTimer().now() > ZERO_QUICK_LEVEL_MS ||
		worldModel->getCurTime() - worldModel->getBall().getSeeTime() > 2)
	{
		LOG << "Not enough time or informations." << endl;
		return; // my informations or my time are not enough.
	}

	const Player &kickPlayer = worldModel->getNearestTmmToBall();

	virtualKickCalc.update(worldModel, kickPlayer);
	float value = virtualPass.getValue(kickPlayer);

	if (value <= -50 || value == AD_MIN_VALUE)
	{
		LOG << "There is no good pass." << endl;
		return;
	}

	sayFlags.suggestPassSay = true;
	sayFlags.passDir = virtualPass.getPassInterCalc()->
			getFirstBall().getVel().getDirection();
	sayFlags.passSpeed = virtualPass.getPassInterCalc()->
			getFirstBall().getVel().getMagnitude();
	sayFlags.passWeight = value;
	sayFlags.passPlayerNum = virtualPass.getPassPlayer()->getUniNum();

	LOG << "VirtualPass:" << endl
		<< "\tPlayer: " << virtualPass.getPassPlayer()->getTeamId()
		<< " " << virtualPass.getPassPlayer()->getUniNum() << endl
		<< "\tWeight: " << virtualPass.getPassValue() << endl
		<< "\tModel: " << virtualPass.getPassModel() << endl
		<< "\tDir: " << sayFlags.passDir << endl
		<< "\tSpeed: " << sayFlags.passSpeed << endl;

}

bool GroupWorks::getPassSayRequestPermittion()
{
	unsigned bodyNum = worldModel->getCurInterCalculate().
			getCheckedListNum(worldModel->getBody());

	if (bodyNum == NOVALUE || worldModel->getCurInterCalculate().
			getCheckedInterPlayer(bodyNum).getInterTime() > 3)
		return false;

	return true;
}

void GroupWorks::requestSuggestPassSayManager()
{
	LOG << "GroupWorks::requestSuggestPassSayManager" << endl;

/*	if (worldModel->getBody().getPostNum() == 6 ||
		worldModel->getBody().getPostNum() == 7)
		requestNum = Player::postNumToUniNum(8);
	else*/ if (worldModel->getBody().getPostNum() == 9 ||
		worldModel->getBody().getPostNum() == 10 ||
		worldModel->getBody().getPostNum() == 11)
	{
		if (fabs(worldModel->getBall().getPos().getY()) > 5)
		{
			if (worldModel->getBall().getPos().getY() > 0)
				requestNum = Player::postNumToUniNum(6);
			else
				requestNum = Player::postNumToUniNum(7);
		}
		else
			requestNum = lastRequestNum;
	}

	sayFlags.attentionNum = requestNum;
	sayFlags.requestPassSayNum = requestNum;
}

void GroupWorks::updateAfterSenseBody()
{
	lastRequestNum = requestNum;
}

void GroupWorks::decide()
{
	LOG << "GroupWorks::decide" << endl;

	if (getPassSayRequestPermittion())
		requestSuggestPassSayManager();

	if (hearedRequestPassTime == worldModel->getCurTime() &&
		hearedRequestPassNum == worldModel->getBody().getUniNum())
		suggestPassSayManager();
}

// setting functions
void GroupWorks::setHearedRequestPassNum(unsigned hearedRequestPassNumArg)
{
	hearedRequestPassNum = hearedRequestPassNumArg;
}

void GroupWorks::setHearedRequestPassTime(unsigned hearedRequestPassTimeArg)
{
	hearedRequestPassTime = hearedRequestPassTimeArg;
}

void GroupWorks::setHearedRequestPassSender(unsigned hearedRequestPassSenderArg)
{
	hearedRequestPassSender = hearedRequestPassSenderArg;
}