soccer.cpp

浙江大学 RoboCup3D 2006 源代码

/***************************************************************************
 *   Copyright (C) 2004 - 2006 by ZJUBase                                  *
 *                                National Lab of Industrial Control Tech. *
 *                                Zhejiang University, China               *
 *                                                                         *
 *   Achievements of ZJUBase in RoboCup Soccer 3D Simulation League:       *
 *    In RoboCup championship,                                             *
 *      - June 2006 - 3rd place in RoboCup 2006, Bremen, Germany (lost     *
 *        the semi-final with a coin toss)                                 *
 *      - July 2005 - 3rd place in RoboCup 2005, Osaka, Japan (share the   *
 *        3rd place with team Caspian)                                     *
 *    In RoboCup local events,                                             *
 *      - April 2006 - 2nd place in RoboCup Iran Open 2006, Tehran, Iran   *
 *        (lost the final with a coin toss)                                *
 *      - December 2005 - 2nd place in AI Games 2005, Isfahan, Iran        *
 *      - July 2005 - champion in China Robot Competition 2005, Changzhou, *
 *        China                                                            *
 *      - October 2004 - champion in China Soccer Robot Competition 2004,  *
 *        Guangzhou, China                                                 *

*                                                                         *
 *   Team members:                                                         *
 *    Currently the team leader is,                                        *
 *           Hao JIANG ([e-mail]; [e-mail])       *
 *    In the next season, the leader will be                               *
 *           Yifeng ZHANG ([e-mail])                        *
 *    ZJUBase 3D agent is created by                                       *
 *           Dijun LUO ([e-mail])                             *
 *    All the members who has ever contributed:                            *
 *           Jun JIANG                                                     *
 *           Xinfeng DU ([e-mail])                             *
 *           Yang ZHOU ([e-mail])                             *
 *           Zhipeng YANG                                                  *
 *           Xiang FAN                                                     *
 *                                                                         *
 *   Team Manager:                                                          *
 *      Ms. Rong XIONG ([e-mail])                            *
 *                                                                         *
 *   If you met any problems or you have something to discuss about        *
 *   ZJUBase. Please feel free to contact us through EMails given below.   *
 *                                                                         *
 *   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; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/

#ifndef WIN32

#include "soccer.h"
#include <sstream>
#include "Global.h"
using namespace std;

Soccer::Soccer() : Behavior()
{
    mTeamName = "unnamed";
    mSensationCount = 0;
    mDriveVec = Vector3(0,0,0);
}

Soccer::~Soccer()
{
}

void Soccer::InitAgent()
{
    cout << "sending init command" << endl;
    stringstream ss;
    ss << "A(init (unum " << mTeamUnum << ") (teamname " << mTeamName << "))";
    mComm->PutOutput(ss.str().c_str());
}

void Soccer::CreateAgent()
{
    // use the create effector to setup the Sensors and Effectors
    cout << "creating agent" << endl;
    mComm->PutOutput("A(create)");
}

void Soccer::Beam(const Vector3& position)
{
    cout
        << "beaming ["
        << position.x
        << " " << position.y
        << " " << position.z
        << "]" << endl;
    stringstream ss;
    ss << "A(beam "
       << " " << position.x
       << " " << position.y
       << "  " << position.z
       << ")\n";
    mComm->PutOutput(ss.str());
}

void Soccer::Kick(const double angle, const double power)
{
    cout
        << "kicking Ball"
        << " angle=" << angle
        << " power=" << power
        << endl;
    stringstream ss;
    ss << "A(kick " << angle << " " << power << ")";
    mComm->PutOutput(ss.str());
}

void Soccer::Drive(const Vector3& driveVec)
{
    cout
        << "driving ["
        << driveVec.x << " "
        << driveVec.y << " "
        << driveVec.z
        << "]" << endl;
    if (mDriveVec == driveVec)
        {
            // no explicit change needed
            cout
                << "not changing drive vector" << endl;
            return;
        }
    stringstream ss;
    ss << "A(drive"
       << " " << driveVec.x
       << " " << driveVec.y
       << "  " << driveVec.z
       << ")";
    mComm->PutOutput(ss.str());
}

void Soccer::Think()
{
    cerr<< "received sensation " << mSensationCount << endl;
    switch (mSensationCount)
        {
        case 0:
            CreateAgent();
            break;
        case 1:
            InitAgent();
            break;
        default:
            Behave();
        }
    ++mSensationCount;
    mComm->PutOutput(DoneThinkingMessage());
}

#endif