object.h

本程序是2005年参加中国机器人大赛的比赛程序

// Object.h: interface for the CObject class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_OBJECT_H__1144D1A2_517B_4E0D_A6D3_7F0C44FFAE4A__INCLUDED_)
#define AFX_OBJECT_H__1144D1A2_517B_4E0D_A6D3_7F0C44FFAE4A__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Vector.h"
#include "Circle.h"
#include "Line.h"
#include <afxtempl.h>
#include <Mmsystem.h>
class CDebugDlg;


class Object  
{
public:
	Object(){};
	virtual ~Object(){};
	inline void Set_Width( double w ){ m_Width = w; };
	inline void Set_Length( double l ){ m_Length = l; };
	inline void Set_vPos( Vector pos ){ m_vPos = pos; }
	inline void Set_bIsLive( BOOL bIsLive ){ m_bIsLive = bIsLive; };
	inline double Get_Width(){ return m_Width; };
	inline double Get_Length(){ return m_Length; };
	inline Vector Get_vPos(){ return m_vPos; };
	inline BOOL Get_bIsLive(){ return m_bIsLive; };
	double m_Width;
	double m_Length;
	Vector m_vPos;//
	BOOL m_bIsLive;
};
class Ball : public Object  
{
public:
	Ball(){};
	virtual ~Ball(){};
};
typedef struct field
{
	CRect m_Field;//整个场地
	CRect m_ForbiddenArea;
	Vector m_MyGoal;//我方球门位置
	double Goal_Width;
	Vector m_TheirGoal;//对方球门位置
}FieldStruct; 
enum Where {center,left,right,top,bottom} ;
//typedef struct BeyondInfo
//{
//	BOOL IsBeyond;
//	Where where; 
//	BOOL IsForwardOutSide;
//}BeyondInfo;
typedef struct Diff//差补
{
	float delta_L;
	float delta_R;
}Diff;

//extern void PASCAL MMTimerProc(UINT wTimerID, UINT msg,DWORD dwUser,DWORD dwl,DWORD dw2);
class CRobocupView;
class Player;
//typedef CMap <UINT,UINT,Player*,Player*> CTimerMap;
class Player : public Object  
{
public:
	int lastbehavior;
	int losttime;
	void slxSimpleAction(int vl,int vr,int  time);
	static void SendSingleCommand3(const unsigned char,const unsigned char,const unsigned char);
	static unsigned char MoveToExact( Vector dest );
	static unsigned char TurnToExact(  Vector vec  );
	static void SendSingleCommand2(const unsigned char,const unsigned char,const unsigned char);
	Vector ChooseGoaliePSecondHalf(Ball &ball);
	BOOL bShootSecondHalf();
	static void AllStop();
	void SimpleActionTest();
	Vector dest;
	BOOL bShoot();
	BOOL TurnTo(Vector dest,UINT para_depth=1);
	Vector ChooseDP2SecondHalf(Ball ball);
	Vector ChooseDP1SecondHalf(Ball ball);
	Vector ChooseSPSecondHalf(Ball ball);
	Vector ChooseFPSecondHalf(Ball ball);
	Vector ChooseGoalieP(Ball ball);
	Vector ChooseDP2(Ball ball);
	Vector ChooseDP1(Ball ball);
	Vector ChooseSP(Ball ball);
	Vector ChooseFP(Ball ball);
	BOOL HaveObstacleBall(Vector des);
//	void IntegrateAction();
	BOOL HaveObstacle(Vector des);
	BOOL TurnAngle(double angle);
//	double Time1;
	void SimpleAction(int);
	static void InitDiffMatrix();
//	int EAPFMove( Vector &goal );
//	Vector makePoint( Vector&, Vector&, double, BOOL );
//	Vector makePoint( Line& l, Vector& v, double L, BOOL d );
//	int makeRoot( Line& l, Circle& c, Vector& v1, Vector& v2 );
//	int SmartMove(Vector &v, double ang );
//	Vector& judgeRoot( Vector& v1, Vector& v2 );

//	BOOL Turn(Vector );
//	BOOL MoveToNoOA2(Vector destPos);
//	void DPosition2(Vector dest);

	
	Diff diff[128];
	static UINT depth[5];
	
	//多媒体Timer
//	static void KillMMTimer(UINT);
	static UINT SetMMTimer(UINT nElapse,DWORD dwUser,LPTIMECALLBACK TimeProc,UINT fuEvent=TIME_CALLBACK_FUNCTION,UINT wAccuracy=Player::wAccuracy);
	static void InitMMTimer(UINT accuracy=1);
	static UINT wAccuracy;

	//边界判断函数
//	BOOL PtInRect(CRect,CPoint);
//	void BoundaryProc(CRect rect=CRect(30,30,30,30) ,UINT time=150);
//	void IsMeBeyondTheField(BeyondInfo &,CRect);
	
	//轮速的差补控制
	int Diffrence;
	
	//动作集合
//	double DPosition(Vector dest);


//	void ShootPeterDeffense( Vector p);
//	double ShootPeter( Vector p);
	
//	void RealShoot(double dist);
	void BasicAct(double,BOOL,BOOL,double,DWORD=0);
//	void Shoot4Debug();


//	BOOL MoveToWithAngleOA( Vector destPos,  double	destAngle);
//	BOOL MoveToWithAngle(Vector destPos, double destAngle);

	Vector lable;
//	static FILE * pFile;

	//communicate methods

	void SendCommand(DWORD time=0);//另一种形式的命令
	static void SendSingleCommand(const unsigned char,const unsigned char,const unsigned char);
	static HANDLE m_hComm;
	static int InitComm(int Comm_num, int baud); //此处用静态函数
	static BOOL WriteABuffer(char * lpBuf, DWORD dwToWrite);
	static void SendCommandofAll();
	BOOL MoveTo(Vector destPos);

//	BOOL TurnTo4Debug(double );
//	BOOL TurnTo4Debug(Vector );

//	BOOL TurnTo(Vector dest,UINT depth=1);


	double DistToBall;
	Player(){};
	virtual ~Player(){};

	static FieldStruct FieldStruct;
	static BOOL My_Side; //0代表我方在左边，1代表我方在右边
	BOOL m_bIsLeft;//是否在左半场
	Vector m_MyGoal;//我方球门位置
	Vector m_OpponentGoal;//对方球门位置
	Vector m_LeftBackPoint;//左后卫位置
	Vector m_RightBackPoint;//右后卫位置
	Vector m_LeftForwardPoint;//左前锋位置
	Vector m_RightForwardPoint;//右前锋位置
	double m_Angle;//小车的朝向角

	void Set_m_Angle( double angle );
	inline void Set_vL( double v ){ m_vL = v; };
	inline void Set_vR( double v ){ m_vR = v; };
	inline void Set_Num( int n ){ m_Num = n; };
	inline void Set_bIsLeft( BOOL bIsLeft ){ m_bIsLeft = bIsLeft; };
	inline void Set_MyGoal( Vector MyGoal ){ m_MyGoal = MyGoal; };
	inline void Set_OpponentGoal( Vector OpponentGoal ){ m_OpponentGoal = OpponentGoal; };
	inline void Set_LeftBackPoint(Vector LeftBackPoint){ m_LeftBackPoint = LeftBackPoint; };
	inline void Set_RightBackPoint(Vector RightBackPoint){ m_RightBackPoint = RightBackPoint; };
	inline void Set_LeftForwardPoint(Vector LeftForwardPoint){ m_LeftForwardPoint = LeftForwardPoint; };
	inline void Set_RightForwardPoint(Vector RightForwardPoint){ m_RightForwardPoint = RightForwardPoint; };

	inline double Get_m_Angle(){ return m_Angle; };//得到朝向角
	inline double Get_vL(){ return m_vL; };
	inline double Get_vR(){ return m_vR; };
	inline int Get_Num(){ return m_Num; };
	inline BOOL Get_bIsLeft(){ return m_bIsLeft; };
	inline Vector Get_MyGoal(){ return m_MyGoal; };
	inline Vector Get_OpponentGoal(){ return m_OpponentGoal; };
	inline Vector Get_LeftBackPoint(){ return m_LeftBackPoint; };
	inline Vector Get_RightBackPoint(){ return m_RightBackPoint; };
	inline Vector Get_LeftForwardPoint(){ return m_LeftForwardPoint; };
	inline Vector Get_RightForwardPoint(){ return m_RightForwardPoint; };

	double DistFromPointToLine(Vector point, Vector pt1, Vector pt2);
//	void BasicAct(double R, BOOL bIsRightHand, BOOL bIsLine, double V);
	BOOL bIsHaveObstacle(Vector obstacle, Vector destPos );

	BOOL AvoidObstacle(Vector obstacle, Vector destPos, Vector& TurnPt);

//	BOOL TurnAngle(double angle);
//	BOOL TurnAngle2(double angle);

//	BOOL TurnTo(Vector v);
//	BOOL TurnTo2(Vector v);
//	BOOL MoveTo(Vector destPos);

//	BOOL GoalKeep(double dist);
//	BOOL Shoot(double dist);
//	BOOL SendBall(double dist, Vector dest);
private:
	int m_Num;//队员标示
	double m_vL;//左轮速度
	double m_vR;//右轮速度

};



#endif // !defined(AFX_OBJECT_H__1144D1A2_517B_4E0D_A6D3_7F0C44FFAE4A__INCLUDED_)