baseagent.cpp

武汉工程大学仿真机器人足球11对11组的代码

				{
//					AfxMessageBox("Information error 3");
				}
				
			}
			switch(iNum)
			{
			case 1:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][0].position.x=x;
					r[0][0].position.y=y;
					r[0][0].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position1.x=x;
					op.position1.y=y;
				}
				break;
			case 2:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][1].position.x=x;
					r[0][1].position.y=y;
					r[0][1].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position2.x=x;
					op.position2.y=y;
				}
				break;
			case 3:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][2].position.x=x;
					r[0][2].position.y=y;
					r[0][2].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position3.x=x;
					op.position3.y=y;
				}
				break;
			case 4:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][3].position.x=x;
					r[0][3].position.y=y;
					r[0][3].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position4.x=x;
					op.position4.y=y;
				}
				break;
			case 5:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][4].position.x=x;
					r[0][4].position.y=y;
					r[0][4].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position5.x=x;
					op.position5.y=y;
				}
				break;
			case 6:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][5].position.x=x;
					r[0][5].position.y=y;
					r[0][5].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position6.x=x;
					op.position6.y=y;
				}
				break;
			case 7:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][6].position.x=x;
					r[0][6].position.y=y;
					r[0][6].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position7.x=x;
					op.position7.y=y;
				}
				break;
			case 8:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][7].position.x=x;
					r[0][7].position.y=y;
					r[0][7].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position8.x=x;
					op.position8.y=y;
				}
				break;
			case 9:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][8].position.x=x;
					r[0][8].position.y=y;
					r[0][8].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position9.x=x;
					op.position9.y=y;
				}
				break;
			case 10:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][9].position.x=x;
					r[0][9].position.y=y;
					r[0][9].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position10.x=x;
					op.position10.y=y;
				}
				break;
			case 11:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					r[0][10].position.x=x;
					r[0][10].position.y=y;
					r[0][10].angle=(int)angle;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					op.position11.x=x;
					op.position11.y=y;
				}
				break;
		
			case 12:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position1.x=x;
					op.position1.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][0].position.x=x;
					r[0][0].position.y=y;
					r[0][0].angle=(int)angle;
				}
				break;
			case 13:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position2.x=x;
					op.position2.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][1].position.x=x;
					r[0][1].position.y=y;
					r[0][1].angle=(int)angle;
				}
				break;
			case 14:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position3.x=x;
					op.position3.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][2].position.x=x;
					r[0][2].position.y=y;
					r[0][2].angle=(int)angle;
				}
				break;
			case 15:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position4.x=x;
					op.position4.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][3].position.x=x;
					r[0][3].position.y=y;
					r[0][3].angle=(int)angle;
				}
				break;
			case 16:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position5.x=x;
					op.position5.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][4].position.x=x;
					r[0][4].position.y=y;
					r[0][4].angle=(int)angle;
				}
				break;
			case 17:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position6.x=x;
					op.position6.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][5].position.x=x;
					r[0][5].position.y=y;
					r[0][5].angle=(int)angle;
				}
				break;
			case 18:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position7.x=x;
					op.position7.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][6].position.x=x;
					r[0][6].position.y=y;
					r[0][6].angle=(int)angle;
				}
				break;
			case 19:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position8.x=x;
					op.position8.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][7].position.x=x;
					r[0][7].position.y=y;
					r[0][7].angle=(int)angle;
				}
				break;
			case 20:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position9.x=x;
					op.position9.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][8].position.x=x;
					r[0][8].position.y=y;
					r[0][8].angle=(int)angle;
				}
				break;	
			case 21:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position10.x=x;
					op.position10.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][9].position.x=x;
					r[0][9].position.y=y;
					r[0][9].angle=(int)angle;
				}
				break;
			case 22:
				if(m_iSide==LEFT_TO_RIGHT)
				{
					op.position11.x=x;
					op.position11.y=y;
				}
				else if(m_iSide==RIGHT_TO_LEFT)
				{
					r[0][10].position.x=x;
					r[0][10].position.y=y;
					r[0][10].angle=(int)angle;
				}
				break;				
			}
			break;
		case 'b':
		case 'B':
//			theball.angle=angle;
			theball.position.x=x;
			theball.position.y=y;
			break;
		case 'c':
		case 'C':
			name.SetPosition(7);
			// read the teamname
			if (name.ParseString(teamname))
			{
				// ist it my team ?
		
				// read player number
				iNum = name.ParseInteger();
				if (msg.HasErrorOccured())
				{
					//					AfxMessageBox("Information error 3");
				}
				
			}
			switch(iNum)
			{
			case 1:
				rbtCollision[0][0].isMovable=x;
				break;
			case 2:
				rbtCollision[0][1].isMovable=x;
				break;
			case 3:
				rbtCollision[0][2].isMovable=x;
				break;
			case 4:
				rbtCollision[0][3].isMovable=x;
				break;
			case 5:
				rbtCollision[0][4].isMovable=x;
				break;
			case 6:
				rbtCollision[0][5].isMovable=x;
				break;
			case 7:
				rbtCollision[0][6].isMovable=x;
				break;
			case 8:
				rbtCollision[0][7].isMovable=x;
				break;
			case 9:
				rbtCollision[0][8].isMovable=x;
				break;
			case 10:
				rbtCollision[0][9].isMovable=x;
				break;
			case 11:
				rbtCollision[1][0].isMovable=x;
				break;
				
			case 12:
				rbtCollision[1][1].isMovable=x;
				break;
			case 13:
				rbtCollision[1][2].isMovable=x;
				break;
			case 14:
				rbtCollision[1][3].isMovable=x;
				break;
			case 15:
				rbtCollision[1][4].isMovable=x;
				break;
			case 16:
				rbtCollision[1][5].isMovable=x;
				break;
			case 17:
				rbtCollision[1][6].isMovable=x;
				break;
			case 18:
				rbtCollision[1][7].isMovable=x;
				break;
			case 19:
				rbtCollision[1][8].isMovable=x;
				break;
			case 20:
				rbtCollision[1][9].isMovable=x;
				break;	
			
				}
			break;
	}
	TRACE("robot1=%d\n",rbtCollision[0][0].isMovable);
	return TRUE;

}

void CBaseAgent::SendCommand()
{
	CString msg;
	if(m_iSide==LEFT_TO_RIGHT)
	{
		msg.Format("((player left 1) %d %d) ((player left 2) %d %d) ((player left 3) %d %d) ((player left 4) %d %d) ((player left 5) %d %d) ((player left 6) %d %d) ((player left 7) %d %d) ((player left 8) %d %d) ((player left 9) %d %d) ((player left 10) %d %d) ((player left 11) %d %d)",
		thePlannerL->command[2],thePlannerL->command[3],
		thePlannerL->command[5],thePlannerL->command[6],
		thePlannerL->command[8],thePlannerL->command[9],
		thePlannerL->command[11],thePlannerL->command[12],
		thePlannerL->command[14],thePlannerL->command[15],
		thePlannerL->command[17],thePlannerL->command[18],
		thePlannerL->command[20],thePlannerL->command[21],
		thePlannerL->command[23],thePlannerL->command[24],
		thePlannerL->command[26],thePlannerL->command[27],
		thePlannerL->command[29],thePlannerL->command[30],
		thePlannerL->command[32],thePlannerL->command[33]);
	}
	else if(m_iSide==RIGHT_TO_LEFT)
	{
		msg.Format("((player right 1) %d %d) ((player right 2) %d %d) ((player right 3) %d %d) ((player right 4) %d %d) ((player right 5) %d %d) ((player right 6) %d %d) ((player right 7) %d %d) ((player right 8) %d %d) ((player right 9) %d %d) ((player right 10) %d %d) ((player right 11) %d %d)",
		thePlannerR->command[2],thePlannerR->command[3],
		thePlannerR->command[5],thePlannerR->command[6],
		thePlannerR->command[8],thePlannerR->command[9],
		thePlannerR->command[11],thePlannerR->command[12],
		thePlannerR->command[14],thePlannerR->command[15],
		thePlannerR->command[17],thePlannerR->command[18],
		thePlannerR->command[20],thePlannerR->command[21],
		thePlannerR->command[23],thePlannerR->command[24],
		thePlannerR->command[26],thePlannerR->command[27],
		thePlannerR->command[29],thePlannerR->command[30],
		thePlannerR->command[32],thePlannerR->command[33]);
	}

	SendMsg(msg);

}

void CBaseAgent::writetofile()
{
/*
	fprintf(fp,"ball.x=%d,ball.y=%d\n",theball.position.x,theball.position.y);
	fprintf(fp,"num1.x=%d,num1.y=%d,num1.angle=%d\n",r[0][0].position.x,r[0][0].position.y,r[0][0].angle);
	fprintf(fp,"num2.x=%d,num2.y=%d,num2.angle=%d\n",r[0][1].position.x,r[0][1].position.y,r[0][1].angle);
	fprintf(fp,"num3.x=%d,num3.y=%d,num3.angle=%d\n",r[0][2].position.x,r[0][2].position.y,r[0][2].angle);

	fprintf(fp,"op1.x=%d,op1.y=%d\n",op.position1.x,op.position1.y);
	fprintf(fp,"op2.x=%d,op2.y=%d\n",op.position2.x,op.position2.y);
	fprintf(fp,"op3.x=%d,op3.y=%d\n",op.position3.x,op.position3.y);
*/
}