soccercommand.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.             *
 ***************************************************************************/

#include "Global.h"
#include "SoccerCommand.h"
#include "worldmodel.h"

SoccerCommand::SoccerCommand()
{
}

SoccerCommand::~SoccerCommand()
{
}

SoccerCommand::SoccerCommand(CMDType cmdType, Vector3 value)
{
	ct = cmdType;
	switch(cmdType){
	case CT_BEAM:
	case CT_DRIVE:
		vvalue[0] = value;
		break;
	default:
		ct = CT_NONE;
	}
}

SoccerCommand::SoccerCommand(CMDType cmdType, Vector3 value1, double value2)  //drive direction power
{
	ct = cmdType;
	double mod = value1.mod();
	if(mod<0.0001)
		mod = 0.0001;
	Vector3 driver = value1 / mod;
	driver = Vector3(driver.x*value2,driver.y*value2,value1.z);

	switch(cmdType){
		case CT_BEAM:
		case CT_DRIVE:
			vvalue[0] = driver;
			break;
		default:
			ct = CT_NONE;
	}
}

SoccerCommand::SoccerCommand(CMDType cmdType,double value1,double value2)
{
	ct = cmdType;
	switch(cmdType){
		case CT_KICK:
			dvalue[0] = value1;//angle
			dvalue[1] = value2;//power
			break;
		case CT_PANTILT:
			dvalue[0] = value1; //pan_angle
           	dvalue[1] = value2; //tilt_angle
		  	break;
		default:
			ct = CT_NONE;
	}
}

SoccerCommand::SoccerCommand(CMDType cmdType, char *MSG)
{
	ct = CT_SAY;
	switch (cmdType){
		case CT_SAY:
			strcpy(sayMSG, MSG);
			break;
		default:
			ct = CT_NONE;
	}
}

char* SoccerCommand::getCommandString()
{
#ifdef WIN32
	Vector3 ppp;
#endif

	switch(ct){
		case CT_NONE:
			strCMD[0] = '\0';
			break;

		case CT_CREATE_AGENT:
			sprintf(strCMD,"A(create)");
			break;

		case CT_INIT_AGENT:
			sprintf(strCMD,"A(init (unum %d) (teamname %s))",0,global.strTeamName); 
			break;

		case CT_DRIVE: 
#ifdef WIN32
			ppp=global.wm.nextPos+vvalue[0]*0.02;
//			ShowLine(global.wm.nextPos,ppp,"128 0 128 F_(%3.1f_%3.1f_%3.1f)",vvalue[0].x,vvalue[0].y,vvalue[0].z);
#endif
		
			sprintf(strCMD,"A(drive %3.3f %3.3f %3.3f)",vvalue[0].x,vvalue[0].y,vvalue[0].z);
			break;

		case CT_KICK: 
			sprintf(strCMD,"A(kick %3.3f %3.3f)",dvalue[0],dvalue[1]);
			break;

		case CT_BEAM: 
			sprintf(strCMD,"A(beam %3.3f %3.3f %3.3f)",vvalue[0].x,vvalue[0].y,vvalue[0].z);
			break;

		case CT_PANTILT:
			sprintf(strCMD,"A(pantilt %3.3f %3.3f)",dvalue[0],dvalue[1]);
			global.wm.myPanAngle=Normalize(global.wm.myPanAngle+dvalue[0]);
			break;

		case CT_CATCH:
			sprintf(strCMD,"A(catch)");
			break;

		case CT_SAY:
			sprintf(strCMD, "A(say %s)", sayMSG);
			break;

		default:
			break;
	}

	return strCMD;
}