advancedagent.h

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.
*/

#ifndef __ADVANCED_AGENT_H
#define __ADVANCED_AGENT_H


#include <GroupWorks.h>
#include <Positioning.h>
#include <SyncedAgent.h>
#include <SayDecision.h>
#include <BodyDecision.h>
#include <HeadDecision.h>
#include <PointToDecision.h>
#include <PenaltyDecision.h>
#include <NonPlayOnDecision.h>
#include <GoaliePlayOnDecision.h>
#include <WithBallPlayOnDecision.h>
#include <WithoutBallPlayOnDecision.h>
#include <StatelessPlan.h>
#include <RootPlan.h>

#ifndef NULL
#	define NULL 0
#endif // NULL

class Form
{
public:
	SayDecisionForm sayForm;
	HeadDecisionForm headForm;
	float setBreakExperiment;
	
	unsigned setCycle;
	
	Form();
	void reset();
};

class Library
{
protected:
public:
	int quickLevel;
	float breakExperiment;

	PassLibrary pass;
	Positioning positioning;
	WithoutBallSelection gwSelection;
	Command *lastBodyCycleCommand;

	Library(const WorldModel *worldModel);
};

class RadarSystem
{
protected:
	const WorldModel *worldModel;

	const Player *saids[3];
	const Player *sayings[3];

	int saidsNum;
	int sayingsNum;

	int anglesNum;
	float anglesList[FULL_PLAYERS_NUM + HALF_PLAYERS_NUM];
	const Player *angPlayers[FULL_PLAYERS_NUM + HALF_PLAYERS_NUM];

	bool isSaid(const Player &player);

	int semiRandom;
	int lastUpdateTime;

	const Player *lastTargetPlayer;

public:
	RadarSystem(const WorldModel *worldModel);

	void sender(Form &form, const Library &library);
	void receiver(Form &form, const Library &library);

};

class AdvancedAgent: public SyncedAgent
{
public:
	AdvancedAgent(int argc, char **argv);
	virtual ~AdvancedAgent();

protected:
	StatelessPlan *statelessPlan;
	RootPlan *rootPlan;

	GroupWorks groupWorks;
	SayDecision sayDecision;
	HeadDecision headDecision;
	PointToDecision pointToDecision;

	Form form;
	Library library;

	RadarSystem radar;

	virtual void senseBody(const SExpression &exp);
	virtual void see(const SExpression &exp);
	virtual void hear(const SExpression &exp);

	virtual void sayDecide();
	virtual void headDecide();
	virtual void pointToDecide();
	virtual bool bodyDecide(int quickLevel);
};


#endif // __ADVANCED_AGENT_H