withoutballplayondecision.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 <Block.h>
#include <Tackle.h>
#include <Defense.h>
#include <Offense.h>
#include <Intercept.h>
#include <GoaliePositioning.h>
#include <WithoutBallPlayOnDecision.h>

#include <AdvancedAgent.h>
#include <cassert>


#define TACKLE_NUM 0
#define BLOCK_NUM 1
#define DEFENSE_NUM 2
#define OFFENSE_NUM 3
#define DRIBBLE_INTERCEPT_NUM 4
#define INTERCEPT_NUM 5


WithoutBallPlayOnDecision::WithoutBallPlayOnDecision(
		const WorldModel *worldModel):
		BodyDecision(worldModel)
{
	addAdvancedAction(new Tackle(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Block(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Defense(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new Offense(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
	addAdvancedAction(new DribbleIntercept(worldModel),
		AdvancedActionWeights(0, 1, 1), 2);
	addAdvancedAction(new Intercept(worldModel),
		AdvancedActionWeights(0, 1, 1), 1);
}

WithoutBallPlayOnDecision::~WithoutBallPlayOnDecision()
{
}

void WithoutBallPlayOnDecision::decide(int quickLevel,
		WithoutBallSelection selection,	Form &form, const Library &library)
{
	resetQuickLevels();

	quickLevels[TACKLE_NUM] = 2;

	switch (selection)
	{
	case WOBS_BLOCK:
		quickLevels[DEFENSE_NUM] = 1;
		quickLevels[BLOCK_NUM] = 2;

		form.headForm.tnMode = TNM_AUTO_PLAY_ON;

		break;

	case WOBS_INTERCEPT:
		quickLevels[INTERCEPT_NUM] = 1;
		if (library.lastBodyCycleCommand->getCreator() == AT_DRIBBLE ||
			library.lastBodyCycleCommand->getCreator() == AT_SRPDRIBBLE ||
			library.lastBodyCycleCommand->getCreator() == AT_DRIBBLE_INTERCEPT)
			quickLevels[DRIBBLE_INTERCEPT_NUM] = 2;

		form.headForm.tnMode = TNM_AUTO_PLAY_ON;

		break;

	case WOBS_OFFENSE:
		quickLevels[DEFENSE_NUM] = 1; // Maybe Temporary

		form.headForm.tnMode = TNM_AUTO_PLAY_ON;

		break;

	case WOBS_DEFENSE:
		quickLevels[DEFENSE_NUM] = 1;

		form.headForm.tnMode = TNM_AUTO_PLAY_ON;

		break;

	case WOBS_POSITIONING:
	case WOBS_LOOKFORBALL:
		assert(0);

	}

	BodyDecision::decide(quickLevel, form, library);
}