nonplayondecision.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

			homeBall.setByPoints(positions[i], worldModel->getBall().getPos());
	
			if (homeBall.getMagnitude() < nearestDistance)
				nearestDistance = homeBall.getMagnitude();
		}

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : nearestdist" << nearestDistance << endl;
#endif
		myHome = positions[worldModel->getBody().getUniNum() - 1];
		homeBall.setByPoints(myHome, worldModel->getBall().getPos());

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : mydist" << homeBall.getMagnitude() << endl;
#endif
		if (homeBall.getMagnitude() < nearestDistance + EPS)
			return 2;
		else
			return 1;
	}

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : normal" << endl;
#endif

	actualPlayModeRemainCycles = worldModel->getPlayModeRemainCycle();
   	actualPlayModeStayCycles = (unsigned)worldModel->getServerParam()["drop_ball_time"].asInt();
	if (worldModel->getPlayMode() == PM_OFFSIDE_OPP ||
		worldModel->getPlayMode() == PM_FREE_KICK_FAULT_OPP ||
		worldModel->getPlayMode() == PM_CATCH_FAULT_OPP)
	{
		return 1;
	}
	
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : actualPlayModeRemainCycles" << actualPlayModeRemainCycles << endl;
LOG << "selectKicker : actualPlayModeStayCycles" << actualPlayModeStayCycles << endl;
#endif

	if (actualPlayModeRemainCycles > actualPlayModeStayCycles - 6) 
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : wait cycles (return 1)" << endl;
#endif
		return 1;
	}

	nearestDistance = 10000;
	for (i = 0; i < FULL_PLAYERS_NUM; i++)
	{
		if (i + 1 == GOALIE_UNIFORM_NUM) continue; // Goalie
		if (i + 1 == worldModel->getBody().getUniNum()) continue; // Body
		homeBall.setByPoints(positions[i], worldModel->getBall().getPos());

		if (homeBall.getMagnitude() < nearestDistance)
			nearestDistance = homeBall.getMagnitude();
	}

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : nearestdist(w/o body)" << nearestDistance << endl;
#endif
	myHome = positions[worldModel->getBody().getUniNum() - 1];
	homeBall.setByPoints(myHome, worldModel->getBall().getPos());

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : mydist" << homeBall.getMagnitude() << endl;
#endif
	if (homeBall.getMagnitude() > nearestDistance + 20)
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : normal very far(return 1)" << endl;
#endif
		return 1;
	}


	if (worldModel->getFreeKickAdvicerSayCycle() <= worldModel->getCurTime() -
			(actualPlayModeStayCycles - actualPlayModeRemainCycles))
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : late advice(return 1)" << endl;
#endif
		return 1;
	}

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : listening to advice" << worldModel->getFreeKickAdvicerSayNumber() << endl;
#endif

	if (worldModel->getFreeKickAdvicerSayNumber() == worldModel->getBody().getUniNum())
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : listening to advice i go" << endl;
#endif
		return 2;
	}
	else
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKicker : listening to advice i don't go" << endl;
#endif
		return 1;
	}

	return 1;
}

void NonPlayOnDecision::selectBallKickerSay(Point positions[11], Form &form)
{
	Point myHome;
	Vector homeBall;
	
	float nearestDistance;
	unsigned nearestPlayer;
	unsigned i;

	unsigned actualPlayModeStayCycles,actualPlayModeRemainCycles;

	actualPlayModeRemainCycles = worldModel->getPlayModeRemainCycle();
   	actualPlayModeStayCycles = (unsigned)worldModel->getServerParam()["drop_ball_time"].asInt();
	if (worldModel->getPlayMode() == PM_OFFSIDE_OPP ||
		worldModel->getPlayMode() == PM_FREE_KICK_FAULT_OPP ||
		worldModel->getPlayMode() == PM_CATCH_FAULT_OPP)
	{
		return;
	}

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : actualPlayModeRemainCycles" << actualPlayModeRemainCycles << endl;
LOG << "selectKickerSay : actualPlayModeStayCycles" << actualPlayModeStayCycles << endl;
#endif

	form.sayForm.freeKickSay = false;
	if (actualPlayModeRemainCycles >= actualPlayModeStayCycles - 1)
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : reset savedAdvicePlayer" << endl;
#endif
		savedAdvicePlayer = -1;
	}

	if (actualPlayModeRemainCycles < actualPlayModeStayCycles - 1 &&
		worldModel->getBall().getSeeTime() > worldModel->getCurTime() -
		(actualPlayModeStayCycles - actualPlayModeRemainCycles))
	{
		if (worldModel->getBody().getUniNum() == FREE_KICK_ADVICER)
		{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : advice" << endl;
LOG << "selectKickerSay : current advice=" << savedAdvicePlayer << endl;
#endif
			if (savedAdvicePlayer == -1)
			{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : find advice" << endl;
#endif
				if (!worldModel->getBody().isGoalie() &&
					worldModel->getPlayMode() == PM_FREE_KICK &&
					worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)
				{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : find advice" << endl;
#endif

					savedAdvicePlayer = 1;
				}
				else if (worldModel->getPlayMode() == PM_CORNER_KICK)
				{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : corner kick" << endl;
#endif
					if (worldModel->getBall().getPos().getY() > 0)
						savedAdvicePlayer = 10;
					else
						savedAdvicePlayer = 11;
				}
				else if (worldModel->getPlayMode() == PM_KICK_IN &&
						worldModel->getBall().getPos().getX() >= 35)
				{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : near corner kick" << endl;
#endif
					if (worldModel->getBall().getPos().getY() > 0)
						savedAdvicePlayer = 10;
					else
						savedAdvicePlayer = 11;
				}
				else
				{
					nearestDistance = 100000;
					nearestPlayer = worldModel->getBody().getUniNum();
					for (i = 0; i < FULL_PLAYERS_NUM; i++)
					{
						if (i + 1 == GOALIE_UNIFORM_NUM) continue; // Goalie
						homeBall.setByPoints(positions[i], worldModel->getBall().getPos());

						if (homeBall.getMagnitude() < nearestDistance)
						{
							nearestPlayer = i + 1;
							nearestDistance = homeBall.getMagnitude();
						}
					}
					savedAdvicePlayer = nearestPlayer;
				}
			}
			form.sayForm.freeKickSay = true;
			form.sayForm.freeKickAdviceNumber = savedAdvicePlayer;
			form.sayForm.attentionNum = savedAdvicePlayer;

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : finded advice=" << savedAdvicePlayer << endl;
#endif
		}
		else
		{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : listener" << endl;
#endif
			if (worldModel->getFreeKickAdvicerSayCycle() > worldModel->getCurTime() -
				(actualPlayModeStayCycles - actualPlayModeRemainCycles))
			{
				form.sayForm.freeKickSay = true;
				form.sayForm.freeKickAdviceNumber = worldModel->getFreeKickAdvicerSayNumber();
				form.sayForm.attentionNum = worldModel->getFreeKickAdvicerSayNumber();
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : listener listened=" << form.sayForm.freeKickAdviceNumber << endl;
#endif
			}
			else
			{
				form.sayForm.attentionNum = FREE_KICK_ADVICER;
			}
		}
	}
	else
	{
#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "selectKickerSay : 1 cycle after changePlayMode or late Ball" << endl;
#endif
	}

	// Previous Method
}

int NonPlayOnDecision::backBallChoice(int cyclesToWait)
{
	unsigned waitMinCycles;
	int i;
	waitMinCycles = 32;

	unsigned actualPlayModeStayCycles,actualPlayModeRemainCycles;

	actualPlayModeRemainCycles = worldModel->getPlayModeRemainCycle();
   	actualPlayModeStayCycles = (unsigned)worldModel->getServerParam()["drop_ball_time"].asInt();
	if (worldModel->getPlayMode() == PM_OFFSIDE_OPP ||
		worldModel->getPlayMode() == PM_FREE_KICK_FAULT_OPP ||
		worldModel->getPlayMode() == PM_CATCH_FAULT_OPP)
	{
		actualPlayModeRemainCycles += worldModel->getServerParam()["drop_ball_time"].asInt();
		actualPlayModeStayCycles += 30;
	}

#ifdef NON_PLAY_ON_DECISION_LOG2
LOG << "backBallChoice : actualPlayModeRemainCycles" << actualPlayModeRemainCycles << endl;
LOG << "backBallChoice : actualPlayModeStayCycles" << actualPlayModeStayCycles << endl;
#endif

	if (worldModel->getPlayMode() == PM_FREE_KICK &&
		worldModel->getVirtualPlayMode() == 
		VPM_GOALIE_CATCH_BALL)
		waitMinCycles = 100;

	if (actualPlayModeRemainCycles < 3)
		return 1;
	if (actualPlayModeRemainCycles > actualPlayModeStayCycles - waitMinCycles)
		return 2;
	if (cyclesToWait > 0)
		return 2;
	if (worldModel->getBody().getStamina() <
			worldModel->getBody().getStaminaMax() - 1)
		return 2;

	// Check Other Players Stamina
	for (i = 0; i < 11; i++)
		if (worldModel->getFullPlayer(TID_TEAMMATE, i).isValid() &&
			worldModel->getFullPlayer(TID_TEAMMATE, i).getStamina() < 
			worldModel->getFullPlayer(TID_TEAMMATE, i).getStaminaMax() - 1)
		{
			LOG << "backBallChoice : COPS player " << i + 1 << endl;
			return 2; // FIXME : turned off because of ...
		}
	
	return 1;
}

void NonPlayOnDecision::getCurrentHomePoints(Point positions[11],
		const Library &library)
{
	int i;
	if (worldModel->getPlayMode() == PM_BEFORE_KICK_OFF ||
		worldModel->getPlayMode() == PM_KICK_OFF ||
		worldModel->getPlayMode() == PM_KICK_OFF_OPP)
	{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "getMovePoint" << endl;
#endif
		for (i = 1; i <= FULL_PLAYERS_NUM; i++)
			positions[i - 1] = (dynamic_cast<NonPlayOnBeforeKickOff *>
				(advancedActions[BEFOREKICKOFF_NUM]))->getMovePoint(i);
	}
	else if (worldModel->getPlayMode() == PM_FREE_KICK &&
			worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)
	{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "GoalieCatchOffense" << endl;
#endif
		advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getValue(library);
		for (i = 1; i <= FULL_PLAYERS_NUM; i++)
			positions[i - 1] = (dynamic_cast<GoalieCatchOffense *>
				(advancedActions[GOALIE_CATCH_OFFENSE_NUM]))->getHomePoint(i);
	}
	else if (DefenseOffenseChoice() == 2)
	{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "Offense.getHomePoint" << endl;
#endif
		advancedActions[OFFENSE_NUM]->getValue(library);
		for (i = 1; i <= FULL_PLAYERS_NUM; i++)
			positions[i - 1] = (dynamic_cast<Offense *>
				(advancedActions[OFFENSE_NUM]))->getHomePoint(i, library);
	}
	else
	{
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "Defense.getHomePoint" << endl;
#endif
		advancedActions[DEFENSE_NUM]->getValue(library);
		for (i = 1; i <= FULL_PLAYERS_NUM; i++)
			positions[i - 1] = (dynamic_cast<Defense *>
				(advancedActions[DEFENSE_NUM]))->getHomePoint(i);
	}
#ifdef NON_PLAY_ON_DECISION_LOG1
LOG << "All home points found." << endl;
#endif
#ifdef NON_PLAY_ON_DECISION_LOG2
for (i = 1; i <= FULL_PLAYERS_NUM; i++)
	LOG << "homepoint[" << i << "] = " << positions[i - 1] << endl;

#endif
}

int NonPlayOnDecision::DefenseOffenseChoice()
{
	switch (worldModel->getPlayMode())
	{
	case PM_KICK_OFF:
	case PM_FREE_KICK:
	case PM_KICK_IN:
	case PM_OFFSIDE_OPP:
	case PM_GOAL_OPP:
	case PM_GOAL_KICK:
	case PM_CORNER_KICK:
	case PM_FREE_KICK_FAULT_OPP:
	case PM_CATCH_FAULT_OPP:
	case PM_BACK_PASS_OPP:
		return 2; // Offense
		break;
		
	case PM_KICK_OFF_OPP:
	case PM_FREE_KICK_OPP:
	case PM_KICK_IN_OPP:
	case PM_OFFSIDE:
	case PM_GOAL:
	case PM_GOAL_KICK_OPP:
	case PM_CORNER_KICK_OPP:
	case PM_FREE_KICK_FAULT:
	case PM_CATCH_FAULT:
	case PM_BACK_PASS:
		return 1; // Defense
		break;
	case PM_TIME_UP_WITHOUT_A_TEAM:
	case PM_TIME_UP:
		return 0; // NoWork 
		break;
	default:
		return 1; // Defense
		break;
	}
}