nonplayondecision.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

		break;

	case PM_OFFSIDE:
	case PM_FREE_KICK_FAULT:
	case PM_CATCH_FAULT:
	case PM_BACK_PASS:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE6" << endl;
#endif
		if (worldModel->getBody().isGoalie())
		{
			advancedActions[GOALIE_POSITIONING_NUM]->getValue(library);
			advancedActions[GOALIE_POSITIONING_NUM]->execute(form, library);
			command = advancedActions[GOALIE_POSITIONING_NUM]->getCommand();
			return;
		}
		else
		{	
			advancedActions[DEFENSE_NUM]->getValue(library);
			advancedActions[DEFENSE_NUM]->execute(form, library);
			command = advancedActions[DEFENSE_NUM]->getCommand();
			return;
		}
		break;

	case PM_OFFSIDE_OPP:
	case PM_FREE_KICK_FAULT_OPP:
	case PM_CATCH_FAULT_OPP:
	case PM_BACK_PASS_OPP:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE7" << endl;
#endif
		selectBallKickerSay(positions, form);
		if (selectBallKicker(positions) == 1)
		{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE7 1" << endl;
#endif
			if (worldModel->getBody().isGoalie())
			{
				advancedActions[GOALIE_POSITIONING_NUM]->getValue(library);
				advancedActions[GOALIE_POSITIONING_NUM]->execute(form, library);
				command = advancedActions[GOALIE_POSITIONING_NUM]->getCommand();
				return;
			}
			else
			{	
				advancedActions[OFFENSE_NUM]->getValue(library);
				advancedActions[OFFENSE_NUM]->execute(form, library);
				command = advancedActions[OFFENSE_NUM]->getCommand(); 
				return;
			}
		}
		else
		{
			form.headForm.tnMode = TNM_LOOK_CAREFULLY;
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE7 2" << endl;
#endif
			advancedActions[GOTOKICK_NUM]->getValue(library);
			if (dynamic_cast<NonPlayOnGotoKick *>(advancedActions[GOTOKICK_NUM])
					->getStatus() == 1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE7 3" << endl;
#endif
				advancedActions[GOTOKICK_NUM]->execute(form, library);
				command = advancedActions[GOTOKICK_NUM]->getCommand();
				return;
			}
			else if (backBallChoice() == 1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE7 4" << endl;
#endif
				// No need to the following line
				if (advancedActions[GOTOKICK_NUM]->getCommand())
					delete advancedActions[GOTOKICK_NUM]->getCommand();
				command = new EmptyCommand(AT_NONE);
				return;
			}
			else
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE7 5" << endl;
#endif
				// No need to the following line
				if (advancedActions[GOTOKICK_NUM]->getCommand())
					delete advancedActions[GOTOKICK_NUM]->getCommand();
				advancedActions[BACKBALL_NUM]->getValue(library);
				advancedActions[BACKBALL_NUM]->execute(form, library);
				return;
			}
		}
		break;

		
	case PM_GOAL_KICK:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE8" << endl;
#endif
		if (worldModel->getBody().isGoalie())
		{
			form.headForm.tnMode = TNM_LOOK_CAREFULLY;
			if (worldModel->getBall().getPos().getY() > 0)
				form.sayForm.attentionNum = 7;
			else
				form.sayForm.attentionNum = 8;
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE8 1" << endl;
#endif
			if (worldModel->getVirtualPlayMode() == VPM_GOAL_KICK_TAKEN)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE8 1 0,5" << endl;
#endif
				advancedActions[GOALIE_POSITIONING_NUM]->getValue(library);
				advancedActions[GOALIE_POSITIONING_NUM]->execute(form, library);
				command = advancedActions[GOALIE_POSITIONING_NUM]->getCommand();
				return;
			}
			
			advancedActions[GOTOKICK_NUM]->getValue(library);
			if (dynamic_cast<NonPlayOnGotoKick *>(advancedActions[GOTOKICK_NUM])
					->getStatus() == 1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE8 1 1" << endl;
#endif
				advancedActions[GOTOKICK_NUM]->execute(form, library);
				command = advancedActions[GOTOKICK_NUM]->getCommand();
				return;
			}
			else if (backBallChoice() == 1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE8 1 2" << 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;
				form.sayForm.reset();

				BodyDecision::decide(quickLevel, form, library);
				return;
			}
			else
			{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE8 1 3" << endl;
#endif
				// No need to the following line
				if (advancedActions[GOTOKICK_NUM]->getCommand())
					delete advancedActions[GOTOKICK_NUM]->getCommand();
				advancedActions[BACKBALL_NUM]->getValue(library);
				advancedActions[BACKBALL_NUM]->execute(form, library);
				command = advancedActions[BACKBALL_NUM]->getCommand();
				return;
			}
		}
		else
		{
			if (worldModel->getBall().getPos().getY() > 0)
			{
				if (worldModel->getBody().getUniNum() == 7)
				{
					if (worldModel->getVirtualPlayMode() == VPM_GOAL_KICK_TAKEN)
						;
//						form.sayForm.reset();
					else
						form.sayForm.attentionNum = 1;
				}
				else
				{
					if (worldModel->getVirtualPlayMode() == VPM_GOAL_KICK_TAKEN)
						;
//						form.sayForm.reset();
					else
						form.sayForm.attentionNum = 1;
				}
			}
			else
			{
				if (worldModel->getBody().getUniNum() == 8)
				{
					if (worldModel->getVirtualPlayMode() == VPM_GOAL_KICK_TAKEN)
						;
//						form.sayForm.reset();
					else
						form.sayForm.attentionNum = 1;
				}
				else
				{
					if (worldModel->getVirtualPlayMode() == VPM_GOAL_KICK_TAKEN)
						;
//						form.sayForm.reset();
					else
						form.sayForm.attentionNum = 1;
				}
			}

			advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getValue(library);
			advancedActions[GOALIE_CATCH_OFFENSE_NUM]->
				execute(form, library);
			command = advancedActions[GOALIE_CATCH_OFFENSE_NUM]->
				getCommand();
			return;
		}
		break;
		
	case PM_GOAL_KICK_OPP:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE9" << endl;
#endif
		if (worldModel->getBall().getVel().getMagnitude() < 0.1)
		{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE9 1" << endl;
#endif
			if (worldModel->getBody().isGoalie())
			{
				advancedActions[GOALIE_POSITIONING_NUM]->getValue(library);
				advancedActions[GOALIE_POSITIONING_NUM]->execute(form, library);
				command = advancedActions[GOALIE_POSITIONING_NUM]->getCommand();
				return;
			}
			else
			{
				advancedActions[DEFENSE_NUM]->getValue(library);
				advancedActions[DEFENSE_NUM]->execute(form, library);
				command = advancedActions[DEFENSE_NUM]->getCommand();
				return;
			}
		}
		else
		{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE9 2" << endl;
#endif
			if (worldModel->getCurInterCalculate().existFastestTmmPlayer() &&
				worldModel->getCurInterCalculate().getFastestTmmPlayer().isBody())
			{
				Point interceptStandPoint;

				if (abs(worldModel->getBall().getVel().getX()) <= EPS)
				{
					if (worldModel->getBall().getVel().getY() >= 0)
						interceptStandPoint = Point(worldModel->getBall().getPos().getX(), 20);
					else
						interceptStandPoint = Point(worldModel->getBall().getPos().getX(), -20);
				}
				else if (abs(worldModel->getBall().getVel().getY()) <= EPS)
				{
					interceptStandPoint = Point(35.5, worldModel->getBall().getPos().getY());
				}
				else
				{
					float m, b, t;
					m = worldModel->getBall().getVel().getY() /
						worldModel->getBall().getVel().getX();
					b = worldModel->getBall().getPos().getY() -
						worldModel->getBall().getPos().getX() * m;

					t = m * 35.5 + b;
					if (abs(t) <= 20.5)
					{
						interceptStandPoint = Point(35.5, t);
					}
					else
					{
						if (worldModel->getBall().getVel().getY() >= 0)
						{
							t = (20.5 - b) / m;
							if (t > 52)
								t = 52;
							interceptStandPoint = Point(t, 20.5);
						}
						else
						{
							t = (-20.5 - b) / m;
							if (t > 52)
								t = 52;
							interceptStandPoint = Point(t, -20.5);
						}
					}
					
				}
				
				command = ForbiddenAreaGotoPoint(AT_INTERCEPT, interceptStandPoint,
				   	36, -20, 20, worldModel->getBody()).getCommand();
				return;
/*
//TODO:			advancedActions[INTERCEPT_NUM].setForbiddenArea(OPPPENALTYAREA);
				advancedActions[INTERCEPT_NUM]->getValue();
				advancedActions[INTERCEPT_NUM]->execute(sayFlags);
				command = advancedActions[INTERCEPT_NUM]->getCommand();
				return advancedActions[INTERCEPT_NUM]->getType();
*/
			}
		}
		break;
	case PM_TIME_UP:
	case PM_TIME_UP_WITHOUT_A_TEAM:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE-1 TIMEOVER(CHECK IT)" << endl;
#endif
		command = new EmptyCommand(AT_NONE);
		return;
		break;	
	default:
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "NONPLAYON: MODE0 default(CHECK IT)" << endl;
#endif
			command = new EmptyCommand(AT_NONE);
			return;
	}
	
	return;
}

int NonPlayOnDecision::selectBallKicker(Point positions[11])
{
	float nearestDistance;
	unsigned i;

	unsigned actualPlayModeStayCycles,actualPlayModeRemainCycles;

	Point myHome;
	Vector meBall;
	Vector homeBall;

#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "selectKicker : start" << endl;
#endif
	if (worldModel->getBody().isGoalie() &&
		worldModel->getPlayMode() == PM_FREE_KICK &&
		worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)
		return 2;

 	if (!worldModel->getBody().isGoalie() &&
		worldModel->getPlayMode() == PM_FREE_KICK &&
		worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)
		return 1;

	if (worldModel->getBody().isGoalie() &&
		worldModel->getPlayMode() == PM_GOAL_KICK &&
		worldModel->getVirtualPlayMode() != VPM_GOAL_KICK_TAKEN)
		return 2;

 	if (!worldModel->getBody().isGoalie() &&
		worldModel->getPlayMode() == PM_GOAL_KICK &&
		worldModel->getVirtualPlayMode() != VPM_GOAL_KICK_TAKEN)
		return 1;

	if (worldModel->getBody().isGoalie())
		return 1;

	if (worldModel->getPlayMode() == PM_CORNER_KICK)
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : corner kick" << endl;
#endif
		if (worldModel->getBall().getPos().getY() > 0)
		{
			if (worldModel->getBody().getUniNum() == 10)
				return 2;
			else
				return 1;
		}
		else
		{
			if (worldModel->getBody().getUniNum() == 11)
				return 2;
			else
				return 1;
		}
	}

	if (worldModel->getPlayMode() == PM_BEFORE_KICK_OFF ||
		worldModel->getPlayMode() == PM_GOAL ||
		worldModel->getPlayMode() == PM_GOAL_OPP ||
		worldModel->getPlayMode() == PM_KICK_OFF ||
		worldModel->getPlayMode() == PM_KICK_OFF_OPP)
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : simple" << endl;
#endif
		nearestDistance = 10000;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
		{
			if (i + 1 == GOALIE_UNIFORM_NUM) continue; // Goalie