advancedcoach.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh 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.
 *
 *  This file is created by: Mohammad Salehe
 *  and is modified by: Darioush Jalali
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <iostream>
#include <cassert>

#include "Logger.h"
#include "OppTypes.h"
#include "OurTypes.h"
#include "AdvancedCoach.h"
#include "SampleScenario.h"

using namespace std;

AdvancedCoach::AdvancedCoach(int argc, char **argv):
		SyncedCoach(argc, argv)
{
	tasksNum = 0;
	numSentFreeForm = 0;

	addTask(new OppTypes(worldModel, worldModelHistory), -1, 0);
	addTask(new OurTypes(worldModel, worldModelHistory), 11, 0);
}

AdvancedCoach::~AdvancedCoach()
{
	if (isTrainer) {
		assert (trainer);
		delete trainer;
	}
}

void AdvancedCoach::addTask(Task *task, int runCount, int runInterval)
{
	tasks.push_back(task);
	runCounts.push_back(runCount);
	curCounts.push_back(runCount);

	runIntervals.push_back(runInterval);
	curIntervals.push_back(runInterval);

	tasksNum++;
}

bool AdvancedCoach::processTasks()
{
	int i;
	bool allowSendFreeForm; 
	string freeFormQueue;

	worldModel->getServerParam();
	LOG << "AdvancedCoach::processTasks" << endl;
	
	changePlayerCycleCommand = new EmptyCommand(AT_ADVANCED_COACH);
	
	allowSendFreeForm = false;
	freeFormQueue = "";
	
	if (worldModel->getPlayMode() != PM_PLAY_ON)
	{
		LOG << "allowSFF - 1" << endl;
		allowSendFreeForm = true;
	}
	else
	{
		LOG << "allowSFF - 2" << endl;
		if (worldModel->getPlayOnPastCycles() > (unsigned)worldModel->
				getServerParam()["freeform_wait_period"].asInt())
		{
		LOG << "allowSFF - 3" << endl;
			if ((worldModel->getPlayOnPastCycles() % worldModel->
					getServerParam()["freeform_send_period"].asInt()) <=
				(unsigned)worldModel->
					getServerParam()["freeform_wait_period"].asInt())
			{
				LOG << "allowSFF - 4" << endl;
				allowSendFreeForm = true;
			}
		}
	}		

	LOG << "allowSFF - 45 check : numSentFreeForm = " << numSentFreeForm << endl;
	LOG << "allowSFF - 45 check : curCycle = " << worldModel->getCurCycle() << endl;
	if (((((float)worldModel->getCurCycle()) / 6000) * 
			worldModel->getServerParam()["say_coach_cnt_max"].asInt()) >= 
			numSentFreeForm)
	{
		LOG << "allowSFF - 5" << endl;
	}
	else
	{
		LOG << "allowSFF - 6( no allow )" << endl;
		allowSendFreeForm = false;
	}

	for (i = 0; i < tasksNum; i++)
	{
		if (curIntervals[i] == 0 && curCounts[i] != 0)
		{
			if (tasks[i]->execute(isTrainer))
			{
				LOG << "AdvancedCoach::task[" << i << "] execute = true" << endl; 
				if (curCounts[i] > 0)
				   	curCounts[i]--;
				curIntervals[i] = runIntervals[i];
				if (tasks[i]->hasChangePlayerCommand())
				{
					LOG << "AdvancedCoach::task[" << i << "] changePlayer = true" << endl; 
					delete changePlayerCycleCommand;
					changePlayerCycleCommand = 
						tasks[i]->getChangePlayerCommand();
					tasks[i]->setChangePlayerCommandSent();
				}
				if (allowSendFreeForm)
				{
					if (tasks[i]->isFreeFormReady())
					{
						freeFormQueue += tasks[i]->getFreeFormString();
						tasks[i]->setFreeFormSent();
					}
				}
			}
		}
		else if (curCounts[i] != 0)
		{
//			LOG << "AdvancedCoach::curCounts != 0" << endl;
			curIntervals[i]--;
		}
		else
		{
//			LOG << "AdvancedCoach::else" << endl;
		}

	}

//	LOG << "AdvancedCoach::out" << endl;

//	freeFormQueue = "a";
	
	if (allowSendFreeForm && freeFormQueue != "")
	{
//		LOG << "AdvancedCoach::newFreeFormCommand" << endl;
		numSentFreeForm++;
		freeFormCycleCommand = new FreeFormCommand(AT_ADVANCED_COACH, freeFormQueue);
	}
	else
	{
		freeFormCycleCommand = new EmptyCommand(AT_ADVANCED_COACH);
	}

//	LOG << "AdvancedCoach::returning true" << endl;
	if (isTrainer) {
		assert(trainer);
		LOG << "Trainer OK, calling execute method" << endl;
		trainer->execute(true);
	}
	return true;
}

void AdvancedCoach::changePlayerType(const SExpression &exp)
{
	SyncedCoach::changePlayerType(exp);
	informChangePlayerType(exp);
}

void AdvancedCoach::informChangePlayerType(const SExpression &exp)
{
	SExpAtomic *at;
	unsigned playerNum;
	int i;

//	LOG << "AdvancedCoach::informChangePlayerType:/" << exp.toString() << "/" << endl; 
	
	if (exp.size() == 3) // teammate change player type
	{
	}
	else // opponent change player type
	{
		assert(exp.size() == 2);
		at = dynamic_cast<SExpAtomic *>(exp[1]);
		assert(at);
		playerNum = at->asInt();
		assert(playerNum > 0 && playerNum <= FULL_PLAYERS_NUM);
//		LOG << "AdvancedCoach::informOppChangePlayerType:" << playerNum << endl; 
		for (i = 0; i < tasksNum; i++)
			tasks[i]->informOppChangePlayerType(playerNum);
	}
}