saydecision.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: Ahmad Boorghany
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <cmath>
#include <string>

#include <Logger.h>
#include <Command.h>
#include <Defines.h>
#include <SayEncoding.h>
#include <SayDecision.h>


using namespace std;


// struct SayDecisionFlags

SayDecisionForm::SayDecisionForm()
{
	reset();
}

void SayDecisionForm::reset()
{
	doRoutinSay = false;
	beforePassSay = false;
	suggestPassSay = false;
	planSay = false;
	freeKickSay = false;
	planHeader = "";

	interceptNum = 0;
	attentionNum = 0;
	planStatus = 0;
	gwInterceptNum = 0;
	gwAttentionNum = 0;

	planSay = false;
	radarSay = false;
}

/*void SayDecisionForm::decideReset()
{
	beforePassSay = false;
//	suggestPassSay = false; AHMAD
	interceptNum = 0;
	planStatus = 0;
//	requestPassSayNum = 0;
	freeKickSay = false;
}*/


// class SayDecision

SayDecision::SayDecision(const WorldModel *worldModel):
		worldModel(worldModel)
{
}

SayDecision::~SayDecision()
{
}

void SayDecision::decide(const Command *bodyCycleCommand,
		SayDecisionForm &sayForm)
{
	LOG << "SayDecision::decide" << endl;

	unsigned attentionNum;

	if (sayForm.attentionNum)
		attentionNum = sayForm.attentionNum;
	else if (sayForm.gwAttentionNum != 0 &&
			sayForm.gwAttentionNum != worldModel->getBody().getUniNum())
		attentionNum = sayForm.gwAttentionNum;
	else
	{
		float min = 0xFFFF;
		unsigned miner = NOVALUE;

		for (unsigned i = 0; i < FULL_PLAYERS_NUM; i++)
			if (worldModel->getFullPlayer(TID_TEAMMATE, i).isValid() &&
				!worldModel->getFullPlayer(TID_TEAMMATE, i).isBody())
				if (miner == NOVALUE ||
					worldModel->getFullPlayer(TID_TEAMMATE, i).getDistance(
						worldModel->getBall()) < min)
				{
					miner = i;
					min = worldModel->getFullPlayer(TID_TEAMMATE, i).getDistance(
							worldModel->getBall());
				}

		if (miner == NOVALUE)
			attentionNum = 9;
		else
			attentionNum = miner + 1;
	}

	attentionCommand = new AttentionToCommand(AT_SAY_DECISION, TID_TEAMMATE, attentionNum);

	if (sayForm.planSay)
		sayPlan(sayForm);

	else if (sayForm.radarSay)
		sayRadar(sayForm);

	else if (sayForm.freeKickSay)
	{
		sayFreeKick(sayForm);
	}
	
	else if (sayForm.beforePassSay)
	{
		unsigned playerNum = sayForm.interceptNum;
		if (playerNum > 11)
			playerNum -= 11;

/*		if (playerNum !=  0 &&
			worldModel->getFullPlayer(TID_TEAMMATE, playerNum - 1).
					getPosDeviation() < 4 &&
			abs(worldModel->getBall().getPos().getX() -
				worldModel->getFullPlayer(TID_TEAMMATE, playerNum - 1).
						getPos().getX()) < RELATED_PLAYER_X_RANGE &&
			abs(worldModel->getBall().getPos().getY() -
				worldModel->getFullPlayer(TID_TEAMMATE, playerNum - 1).
						getPos().getY()) < RELATED_PLAYER_Y_RANGE)
			sayBeforePassRelated(bodyCycleCommand);
		else*/
			sayBeforePass(bodyCycleCommand, sayForm);
	}

	else if (sayForm.suggestPassSay)
		saySuggestPass(sayForm);

	else if (getSayRoutinBallPermission(sayForm))
	{
		sayForm.interceptNum = sayForm.gwInterceptNum;
		sayRoutinBall(bodyCycleCommand, sayForm);
	}

/*	else if (sayForm.requestPassSayNum)
	{
		sayForm.interceptNum = gwInterceptNum;
		sayRequestPassSayWithoutBall(bodyCycleCommand);
	}*/

	else
		sayCommand = new EmptyCommand(AT_SAY_DECISION);
}

void SayDecision::sayBeforePass(const Command *bodyCycleCommand,
		const SayDecisionForm &sayForm)
{
	string str = "A"; // BeforePass say flag

	Body nextBody(worldModel->getBody());
	nextBody.simulateByAction(bodyCycleCommand);
	nextBody.simulateByDynamics();

	Ball nextBall(worldModel->getBall());
	nextBall.simulateByAction(worldModel->getBody(), bodyCycleCommand);
	nextBall.simulateByDynamics(nextBody, 1);

	SayEncoding::encodeObjectPosition(nextBall.getPos().getX(),
			nextBall.getPos().getY(), str);
	SayEncoding::encodeObjectVelocity(nextBall.getVel().getMagnitude(),
			nextBall.getVel().getDirection(), str);
	
	str += SayEncoding::sayCodeKey[sayForm.interceptNum];

	sayCommand = new SayCommand(AT_SAY_DECISION, str);
}

void SayDecision::sayBeforePassRelated(const Command *bodyCycleCommand,
		const SayDecisionForm &sayForm)
{
	string str = "B"; // BeforePass say flag

	unsigned playerNum = sayForm.interceptNum;
	if (playerNum > 11)
		playerNum -= 11;

	Player nextPlayer(worldModel->getFullPlayer(TID_TEAMMATE, playerNum - 1));
	nextPlayer.simulateByDynamics(worldModel->getBody());

	Ball nextBall(worldModel->getBall());
	nextBall.simulateByAction(worldModel->getBody(), bodyCycleCommand);
	nextBall.simulateByDynamics(worldModel->getBody());

	SayEncoding::encodeObjectPosition(
			nextBall.getPos().getX() - nextPlayer.getPos().getX(),
			nextBall.getPos().getY() - nextPlayer.getPos().getY(), str);
	SayEncoding::encodeObjectVelocity(nextBall.getVel().getMagnitude(),
			nextBall.getVel().getDirection(), str);

	str += SayEncoding::sayCodeKey[sayForm.interceptNum];

	sayCommand = new SayCommand(AT_SAY_DECISION, str);
}

void SayDecision::sayRoutinBall(const Command *bodyCycleCommand,
		const SayDecisionForm &sayForm)
{
	string str = "Z"; // RoutinBall say flag

	Body nextBody(worldModel->getBody());
	nextBody.simulateByAction(bodyCycleCommand);
	Body speedBody(nextBody); // I need this copy.
	nextBody.simulateByDynamics();

	Ball nextBall(worldModel->getBall());
	nextBall.simulateByAction(worldModel->getBody(), bodyCycleCommand);
	nextBall.simulateByDynamics(nextBody, 1);

	SayEncoding::encodeObjectPosition(nextBall.getPos().getX(),
			nextBall.getPos().getY(), str);

	if (worldModel->isBallKickable() && sayForm.interceptNum != 0 &&
		worldModel->getBall().getPosDeviation() < 5)
	{
		SayEncoding::encodeObjectVelocity(
				speedBody.getVel().getMagnitude(),
				speedBody.getVel().getDirection(), str); // When I have the ball, it's velocity has no meaning.
		str += SayEncoding::sayCodeKey[sayForm.interceptNum +
					SAY_UPPER_CASE_NUM]; // It means "Khow that I have the ball."
	}
	else
	{
		SayEncoding::encodeObjectVelocity(nextBall.getVel().getMagnitude(),
				nextBall.getVel().getDirection(), str);
		str += SayEncoding::sayCodeKey[sayForm.interceptNum];
	}

	str += SayEncoding::sayCodeKey[sayForm.planStatus];

	sayCommand = new SayCommand(AT_SAY_DECISION, str);
}

/*void SayDecision::sayRequestPassSayWithoutBall(const Command *bodyCycleCommand)
{
	string str = "Y"; // RoutinBall say without ball flag

	str += SayEncoding::sayCodeKey[sayForm.interceptNum];
	str += SayEncoding::sayCodeKey[sayForm.requestPassSayNum];

	if (worldModel->isBallKickable())
		str += SayEncoding::sayCodeKey[1];
	else
		str += SayEncoding::sayCodeKey[0];

	sayCommand = new SayCommand(AT_SAY_DECISION, str);
}*/

bool SayDecision::getSayRoutinBallPermission(const SayDecisionForm &sayForm)
{
	if ((worldModel->getBall().getSeeTime() == worldModel->getCurTime() &&
		 worldModel->getBall().getVelSeeTime() == worldModel->getCurTime()) ||
		(worldModel->isBallKickable() &&
		 worldModel->getBall().getPosDeviation() < 5) ||
		(sayForm.doRoutinSay &&
		 worldModel->getBall().getPosDeviation() < 5))
		return true;
	return false;
}

void SayDecision::saySuggestPass(const SayDecisionForm &sayForm)
{
	string str = "C"; // SuggestPass say flag

	LOG << "A SayDecision::saySuggestPass" << endl;
	LOG << "A speed dir weight num: "
		<< sayForm.passSpeed << " "
		<< sayForm.passDir << " "
		<< sayForm.passWeight << " "
		<< sayForm.passPlayerNum << endl;

	SayEncoding::encodeObjectVelocity(sayForm.passSpeed,
			sayForm.passDir, str);

	SayEncoding::encodeWeight(sayForm.passWeight, -50, 150, str);

	str += SayEncoding::sayCodeKey[sayForm.passPlayerNum];

	sayCommand = new SayCommand(AT_SAY_DECISION, str);
}

void SayDecision::sayFreeKick(const SayDecisionForm &sayForm)
{
	string str = "F"; // freeKick say flag

//	LOG << "SayDecision:: sayFreeKick advice number=" << sayForm.freeKickAdviceNumber << endl;

	str += SayEncoding::sayCodeKey[sayForm.freeKickAdviceNumber];

	sayCommand = new SayCommand(AT_SAY_DECISION, str);
}

void SayDecision::sayPlan(const SayDecisionForm &sayForm)
{
	string str = sayForm.planHeader; // Plan say flag

	LOG << "SayDecision::sayPlan" << endl;

	str += sayForm.planInfo;

	sayCommand = new SayCommand(AT_SAY_DECISION, str);
}

void SayDecision::sayRadar(const SayDecisionForm &sayForm)
{
	LOG << "SayDecision::sayRadar" << endl;

	string str = "R"; // Radar say flag

	for (int i = 0; i < sayForm.radarPlayersNum; i++)
	{
		LOG << "\tPlayer " << i << " ID: " << sayForm.ids[i]
			<< " Mag: " << sayForm.radarPlayers[i].getMagnitude()
			<< " Dir: " << sayForm.radarPlayers[i].getDirection() << endl;

		SayEncoding::encodeRadarObject(sayForm.ids[i],
			sayForm.radarPlayers[i].getMagnitude(),
			sayForm.radarPlayers[i].getDirection(),  str);
	}
	
	sayCommand = new SayCommand(AT_SAY_DECISION, str);
}

Command *SayDecision::getSayCommand()
{
	return sayCommand;
}

Command *SayDecision::getAttentionCommand()
{
	return attentionCommand;
}