score_bms.c

Brainstormers(头脑风暴)队是05年robocup冠军,这是05年Brainstormers公布的源代码,Brainstormers是robocup老牌的德国强队

/*
Brainstormers 2D (Soccer Simulation League 2D)
PUBLIC SOURCE CODE RELEASE 2005
Copyright (C) 1998-2005 Neuroinformatics Group,
                        University of Osnabrueck, Germany

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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
*/

#include "score_bms.h"
#include "ws_info.h"
#include "mdp_info.h"
#include "oneortwo_step_kick_bms.h"


#if 1
#define BASELEVEL 0 // level for logging; should be 3 for quasi non-logging
//#define LOG_DAN(YYY,XXX) LOG_DEB(YYY,XXX)
#define LOG_DAN(YYY,XXX)
#else
#define BASELEVEL 3 // level for logging; should be 3 for quasi non-logging
#define LOG_DAN(YYY,XXX)
#endif


bool Score::initialized = false;

Score::Score() {
  last_time_look_to_goal = -1;
  goalshot_param1 = 0.3;
  goalshot_mode = 0;   //standard goalshot
  nr_of_looks_to_goal = -1;  

  ValueParser vp(CommandLineOptions::policy_conf,"score_bms");
  vp.get("goalshot_param1", goalshot_param1);
  vp.get("goalshot_mode", goalshot_mode);

  oneortwo = new OneOrTwoStepKick();
}

Score::~Score() {
  delete oneortwo;
}

bool Score::get_cmd(Cmd &cmd) {
  /*
  Intention intention;
  Value speed;
  Vector target;

  if (test_shoot2goal(intention)) {
    speed = intention.kick_speed;
    target = intention.kick_target;
    mdpInfo::set_my_intention(DECISION_TYPE_SCORE, speed, 0, target.x, target.y,0);
    LOG_POL(BASELEVEL,<<"Score get_cmd: try to score w speed "<<speed<<" to target "<<target);
    neurokick->kick_to_pos_with_initial_vel(speed,target);
    neurokick->get_cmd(cmd);
    return true;
  } else {
    return false;
  }
  */
}

bool Score::test_shoot2goal(Intention &intention) {
  int multi_step;
  Value velocity, direction;
  Vector target;
  int best_index;

  int result = get_goalshot_chance(multi_step, velocity, direction, target, best_index);

  Value target_dir = (mdpInfo::opponent_goalpos()-WSinfo::me->pos).arg();

  risky_goalshot_possible = 0;

  intention.immediatePass = false; //allow multi kicks via neurokick!

  if(goalshot_mode == 0){
    if (result == 4) result = 1;
  }
  else{
    if (result == 4)
      LOG_ERR(0,"Goalshot risky, continue planning");
  }
  
  if (result == 0) {
    LOG_DAN(BASELEVEL,"no goalshot found");
    //no shot found
    return false;

  } else if (result == 1) {

    //secure shot
    if (multi_step) {
      LOG_DAN(0, << "shoot with neuro_kick2! velocity = " << velocity 
	      << " target.x = " << target.x << " target.y = " << target.y);
      mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, target_dir);//direction);
      //set_aaction_score(aaction, target, velocity);
      intention.set_score(target, velocity, WSinfo::ws->time);
      return true;
      //return Move_Factory::get_1or2_Step_Kick(velocity, target);
    } else {
      LOG_DAN(0, << "shoot with one step kick! velocity = " << velocity 
	         << " dir = " << direction);
      intention.set_score(target, velocity, WSinfo::ws->time);
      return true;
      //      return Move_Factory::get_1Step_Kick(velocity, direction);
    }

  } else if (result == 2) {

    //risky because of goalie_age?
    if ((mdpInfo::opponent_goalpos() - WSinfo::me->pos).norm() > 30.0) {
      LOG_DAN(BASELEVEL,"result 2 and too far away");
      return false;
    }

#if 0 // ridi 22.6.03 : replaced by new access to goalie
    WSpset alive_opps = WSinfo::alive_opponents;
    PPlayer goalie = alive_opps.get_player_by_number(WSinfo::ws->his_goalie_number);
#endif
    PPlayer goalie;
    if(WSinfo::his_goalie)
      goalie = WSinfo::his_goalie;
    else
      return false;
    //if (goalie == NULL) return false;
    WSpset pset_tmp = WSinfo::valid_opponents;
    pset_tmp.keep_players_in_circle(WSinfo::me->pos, 3.0);
    if (pset_tmp.num > 0) {
      LOG_DAN(0, << "doing a risky shot because opponents are close!");
      if (multi_step) {
	LOG_DAN(0, << "shoot with neuro_kick2! velocity = " << velocity 
		<< " target.x = " << target.x << " target.y = " << target.y);
	mdpInfo::set_my_intention(DECISION_TYPE_SCORE, velocity, direction,
				  target.x, target.y, best_index);
	mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, target_dir);//direction);
	intention.set_score(target, velocity, WSinfo::ws->time);
	//set_aaction_score(aaction, target, velocity);
	return true;
	//return Move_Factory::get_Neuro_Kick2(5, velocity, target.x, target.y);
      } else {
	LOG_DAN(0, << "shoot with one step kick! velocity = " << velocity 
		<< " dir = " << direction);
	//	return Move_Factory::get_1Step_Kick(velocity, direction);
	intention.set_score(target, velocity, WSinfo::ws->time);
	//set_aaction_score(aaction, target, velocity);
	return true;
      }

    } else {

      if (goalie->age <= 4) {
	LOG_DAN(0, << "opponent goalie too young, don't look to him");
	return false;
      }

      LOG_DAN(0, << "opponent goalie too old, look to goal with hold ball");
      //Value target_dir = (mdpInfo::opponent_goalpos()-WSinfo::me->pos).arg();
      
      if (last_time_look_to_goal != WSinfo::ws->time - 1) {
	nr_of_looks_to_goal = 1;
      } else {
	++nr_of_looks_to_goal;
      }
      last_time_look_to_goal = WSinfo::ws->time;

      /*
      if (nr_of_looks_to_goal == 1) {
	LOG_DAN(0, << "look to center of goal");
	target_dir = (mdpInfo::opponent_goalpos()-WSinfo::me->pos).arg();
      }
      else if (nr_of_looks_to_goal == 2) {
	LOG_DAN(0, << "look to left goalcorner");
	target_dir = (ServerOptions::their_left_goal_corner-WSinfo::me->pos).arg();
      }
      else if (nr_of_looks_to_goal == 3) {
	LOG_DAN(0, << "look to right goalcorner");
	target_dir = (ServerOptions::their_right_goal_corner-WSinfo::me->pos).arg();
      }
      else if (nr_of_looks_to_goal == 4) {*/
      if (nr_of_looks_to_goal >= 3) {
	if (multi_step) {
	  LOG_DAN(0, << "I looked to goal, didn't see goalie and I'm close to goal, shoot");
	  LOG_DAN(0, << "shoot with neuro_kick2! velocity = " << velocity 
		  << " target.x = " << target.x << " target.y = " << target.y);
	  mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, direction);
	  mdpInfo::set_my_intention(DECISION_TYPE_SCORE, velocity, direction,
				    target.x, target.y, best_index);
	  intention.set_score(target, velocity, WSinfo::ws->time);
	  //set_aaction_score(aaction, target, velocity);
	  return true;

	} else {
	  LOG_DAN(0, << "shoot with one step kick! velocity = " << velocity 
		  << " dir = " << direction);
	  //return Move_Factory::get_1Step_Kick(velocity, direction);
	  intention.set_score(target, velocity, WSinfo::ws->time);
	  //set_aaction_score(aaction, target, velocity);
	  return true;
	}
      }
	
      mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, target_dir);
      if(mdpInfo::could_see_in_direction(target_dir) == true) {
	// I can see in direction by turning neck without turning body
	mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, target_dir);
	mdpInfo::set_my_intention(DECISION_TYPE_LOOKFORGOALIE, mdpInfo::opponent_goalpos().x, 
				  mdpInfo::opponent_goalpos().y);
	// ridi03:todo
	//	return Move_Factory::get_Hold_Ball(1);	
	
	//LOG_ERR(0,"WBALL03: should hold ball and look; not yet implemented");
	//LOG_DAN(BASELEVEL,"WBALL03: should hold ball and look; not yet implemented");
	intention.set_holdturn(ANGLE(target_dir), WSinfo::ws->time);
	return true;
      } else {
	// have to turn body.
	LOG_DAN(0, " have to turn body, but don't do it");
	last_time_look_to_goal = -1;
	return false;
	/*
	  mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, target_dir);     
	  return Move_Factory::get_Hold_Ball(target_dir,1); 
	*/
      }
    }

  } else if (result == 3) {
    //risky because opponent could intercept

  } else if (result == 4) {
    //risky because goal could be missed

    saved_velocity = velocity;
    saved_direction = direction;
    saved_target = target;
    saved_multi_step = multi_step;
    risky_goalshot_possible = 1;

  } else if ((result == 5) || (result == 6)) {
    //opponent goalie not alive or goalie number not known or other strange problem

    if ((mdpInfo::opponent_goalpos() - WSinfo::me->pos).norm() > 25.0) {
      LOG_DAN(0, " result 5 and too far");
      return false;
    }

    LOG_DAN(0, << "opponent goalie not alive, number not known or other strange problem, look to goal with hold ball");
    Value target_dir = (mdpInfo::opponent_goalpos()-WSinfo::me->pos).arg();
    
    if (last_time_look_to_goal != WSinfo::ws->time - 1) {
      nr_of_looks_to_goal = 1;
    } else {
      ++nr_of_looks_to_goal;
    }
    last_time_look_to_goal = WSinfo::ws->time;

    target_dir = (mdpInfo::opponent_goalpos()-WSinfo::me->pos).arg();
    /*
    if (nr_of_looks_to_goal == 1) target_dir = (mdpInfo::opponent_goalpos()-WSinfo::me->pos).arg();
    else if (nr_of_looks_to_goal == 2) target_dir = (ServerOptions::their_left_goal_corner-WSinfo::me->pos).arg();
    else if (nr_of_looks_to_goal == 3) target_dir = (ServerOptions::their_right_goal_corner-WSinfo::me->pos).arg();
    else if (nr_of_looks_to_goal == 4) {*/
    if (nr_of_looks_to_goal >= 3) {
      if (result == 6) {
	Vector goal = Vector(ServerOptions::pitch_length/2.0, 0.0);
	ANGLE angle = (goal-WSinfo::ball->pos).ARG();
	Value one_step_vel, multi_step_vel;
	//Move_1or2_Step_Kick::get_vel_in_dir(3.0, angle, one_step_vel, multi_step_vel);
	oneortwo->kick_in_dir_with_max_vel(ANGLE(angle));
	oneortwo->get_vel(one_step_vel, multi_step_vel);

	if (one_step_vel > ServerOptions::ball_speed_max)
	  one_step_vel = ServerOptions::ball_speed_max;

	if (multi_step_vel > ServerOptions::ball_speed_max)
	  multi_step_vel = ServerOptions::ball_speed_max;

	LOG_DAN(0, << "I looked to goal, didn't see goalie AND opponents and I'm close to goal, shoot");
	LOG_DAN(0, << "shoot with neuro_kick2! velocity = " << multi_step_vel 
		<< " target.x = " << goal.x << " target.y = " << goal.y);
	mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, 
				       (goal-WSinfo::me->pos).arg());
	//return Move_Factory::get_Neuro_Kick2(5, velocity, target.x, target.y);
	intention.set_score(goal, multi_step_vel, WSinfo::ws->time);
	//set_aaction_score(aaction, target, velocity);
	return true;	
      }
      if (multi_step) {
	LOG_DAN(0, << "I looked to goal, didn't see goalie and I'm close to goal, shoot");
	LOG_DAN(0, << "shoot with neuro_kick2! velocity = " << velocity 
		<< " target.x = " << target.x << " target.y = " << target.y);
	mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, 
				       (target-WSinfo::me->pos).arg());
	//return Move_Factory::get_Neuro_Kick2(5, velocity, target.x, target.y);
	intention.set_score(target, velocity, WSinfo::ws->time);
	//set_aaction_score(aaction, target, velocity);
	return true;

	//return Move_Factory::get_1or2_Step_Kick(velocity, target);
      } else {
	LOG_DAN(0, << "shoot with one step kick! velocity = " << velocity 
		<< " dir = " << direction);
	intention.set_score(target, velocity, WSinfo::ws->time);
	//set_aaction_score(aaction, target, velocity);
	return true;
	//return Move_Factory::get_1Step_Kick(velocity, direction);
      }
    }
    
    mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, target_dir);
    if(mdpInfo::could_see_in_direction(target_dir) == true) {
      // I can see in direction by turning neck without turning body
      mdpInfo::set_my_neck_intention(NECK_INTENTION_LOOKINDIRECTION, target_dir);
      mdpInfo::set_my_intention(DECISION_TYPE_LOOKFORGOALIE, mdpInfo::opponent_goalpos().x, 
				mdpInfo::opponent_goalpos().y);

      // ridi03:todo
      //	return Move_Factory::get_Hold_Ball(1);	
      LOG_ERR(0,"WBALL03: should hold ball and look; not yet implemented");
      LOG_DAN(0,"WBALL03: should hold ball and look; not yet implemented");
      intention.set_holdturn(ANGLE(target_dir), WSinfo::ws->time);
      return true;
    } else {
      // have to turn body.
      LOG_DAN(0, " have to turn body, but don't do it");
      last_time_look_to_goal = -1;
      return false;
    }
  }    
  LOG_DAN(0, " shoot 2 goal - unsuccessful result "<<result);    
  return false;
}


int Score::get_goalshot_chance(int &multi_step, Value &velocity, 
					       Value &direction, Vector &target, int &best_index) {

  if (WSinfo::me->pos.x < 15.0) return 0;

  if ( (Tools::my_abs_angle_to(Vector(FIELD_BORDER_X, 0.0)).get_value() > DEG2RAD(83)) &&
       (Tools::my_abs_angle_to(Vector(FIELD_BORDER_X, 0.0)).get_value() < DEG2RAD(277)) &&
       fabs(WSinfo::me->pos.y) > 8.0) {