xl_coach.cpp

仿真机器人足球比赛

#include "xl_coach.h"
#include "xl_logger.h"
#include <stdlib.h>
#include <stdio.h>
#include <memory.h>

MatchState		matchState; //比赛信息
RobotState		ourTeamState[5]; //我方球员信息
OpsState		opsTeamState[5]; //对手信息
BallState		ballState;   //球信息
TeamSide        ourTeamSide; //左右队

/*
// 命令种类
enum CommandTypeT
{
	Com_Stay = 0, 
	Com_Turn, //转身
	Com_Kick, //踢球
	Com_Dash, 
	Com_Catch //扑球
};
*/
const char* cmdName[]=
{	
	"Stay",
	"Turn",
	"Kick",
	"Dash",
	"Catch"
};


void InitTeamSide(int teamSide)
{
#ifdef ENABLE_LOG
	OpenLogger("debug.log");
	//要使某频道有效，必须调用RegisterChannel
	RegisterChannel(CT_ERROR,"ERROR");
	RegisterChannel(CT_TEST,"TEST");
	RegisterChannel(CT_SENSE,"SENSE");
	RegisterChannel(CT_CMD,"CMD");
#endif
	if(teamSide ==TS_LEFT) 
    {
		ourTeamSide = TS_LEFT;
	} 
    else if(teamSide ==TS_RIGHT) 
    {
		ourTeamSide = TS_RIGHT;
	}
	else
	{
		Log(CT_ERROR,"(ourTeamSide %d)",ourTeamSide);
	}
	Log(CT_TEST,"(ourTeamSide %d)",ourTeamSide);
}

void UpdateMessage( MatchState ams,
				    RobotState arsOur[5],
					OpsState arsOpp[5], 
					BallState abs)
{
	memcpy(&matchState, &ams, sizeof(MatchState));
	memcpy(ourTeamState, arsOur, sizeof(RobotState)*5);
	memcpy(opsTeamState, arsOpp, sizeof(OpsState)*5);
	memcpy(&ballState, &abs, sizeof(BallState));

	SetLogCycle(matchState.iTimeNow);
	for (int i = 0;i<5;i++)
	{
		Log(CT_SENSE,"(OurRobot (idx %d)(pos %.3f %.3f)(vel %.3f %.3f)(dir %.1f)(sta %.1f)",
			i,ourTeamState[i].pos.x,ourTeamState[i].pos.y,
			ourTeamState[i].vel.x,ourTeamState[i].vel.y,
			ourTeamState[i].dir,ourTeamState[i].sta);
		Log(CT_SENSE,"(OpsRobot (idx %d)(pos %.3f %.3f)(vel %.3f %.3f)",
			i,opsTeamState[i].pos.x,opsTeamState[i].pos.y,
			opsTeamState[i].vel.x,opsTeamState[i].vel.y);
	}
	
}

//当前此函数代码是随便设置的，球员随机跑动，可踢球时就朝正前方踢
void MakeDecision(TCommand * pMyCMD)
{
	for (int i = 0 ; i < 5 ; i++ )
	{	
		if(i>3)
		{
			pMyCMD[i].Type = Com_Turn;
			pMyCMD[i].Param1 = 20;
		}
		else
		{
			pMyCMD[i].Type = Com_Dash;
			pMyCMD[i].Param1   = CMAXPOWER * 0.5;
		}

		Log(CT_CMD,"(Robot %d) (%s  %.3f %.3f)",
			i,cmdName[pMyCMD[i].Type],
			pMyCMD[i].Param1,pMyCMD[i].Param2);
	}
}

void  ExitMatch()
{
#ifdef ENABLE_LOG
	//关闭Log文件
	CloseLogger();
#endif
}