auditorysystem.cpp

robocup源代码2001年清华机器人源代码

	if (m == '/')
		return 68;
	if (m == '?')
		return 69;
	if (m == '<')
		return 70;
	if (m == '>')
		return 71;
	return 72;
}

void AuditoryProcess::encipher(char * buffer, int len){
	int tmp, j = 0;
	for(int i =0; i < len; i ++){
		switch(i % 3){
		case 0:
			tmp = ciphertext(buffer[i]) * 4;
			break;
		case 1:
			buffer[j ++] = map_into_printablechar(tmp + (ciphertext(buffer[i]) / 4));
			tmp = (ciphertext(buffer[i]) % 4) * 16;
			break;
		case 2:
			buffer[j ++] = map_into_printablechar(tmp + ciphertext(buffer[i]));
		}	
	}
	if(len % 3 != 0){
		buffer[j ++] = map_into_printablechar(tmp);
	}
	buffer[j] = 0;
}

void AuditoryProcess::decipher(char * buffer, int len){
	int* tmp = new int[len], j = 0;
	for(int i = 0; i < len; i ++)
		tmp[i] = demap(buffer[i]);

	for(i =0; i < len; i ++){
		switch(i % 2){
		case 0:
			buffer[j ++] = deciphertext(tmp[i] / 4);
			break;
		case 1:
			buffer[j ++] = deciphertext((tmp[i-1] % 4) * 4 + tmp[i] / 16);
			buffer[j ++] = deciphertext(tmp[i] % 16);
			break;
		}
	}
	buffer[j] = 0;
	delete tmp;
}

int AuditoryProcess::encrypt(int data){
	return int(rsa.Exponent(data, CP_encryption_key));
}

int AuditoryProcess::decrypt(int data){
	return int(rsa.Exponent(data, CP_decryption_key));
}

/*****************	Announce	***************************************/
void AuditoryProcess::AnnounceSelfPos(){
	AddMsg(Msg_MyPlayerPos, MyNumber, 0, Self.pos.x, Self.pos.y);
}

void AuditoryProcess::AnnounceMyPlayerPos(UNum NO){
	if (!IsUniformNo(NO)) return;
	AddMsg(Msg_MyPlayerPos, NO, MyPlayer(NO).original_postime - situation.CurrentTime, MyPlayer(NO).pos.x, MyPlayer(NO).pos.y);
}

void AuditoryProcess::AnnounceTheirPlayerPos(UNum NO){
	if (!IsUniformNo(NO)) return;
	AddMsg(Msg_TheirPlayerPos, NO, TheirPlayer(NO).original_postime - situation.CurrentTime, TheirPlayer(NO).pos.x, TheirPlayer(NO).pos.y);
}

void AuditoryProcess::AnnounceBallPos(){
	AddMsg(Msg_BallPos, ball.original_postime - situation.CurrentTime, ball.pos.x, ball.pos.y);
}

void AuditoryProcess::AnnounceBallVel(){
	AddMsg(Msg_BallVel, ball.original_veltime - situation.CurrentTime, ball.global_vel.x, ball.global_vel.y);
}

void AuditoryProcess::AnnouncePass(){
	AddMsg(Msg_Pass, 1);
}

void AuditoryProcess::AnnounceBallcontroller(){
	int ballcontrollers[6];
	int num, j = 0;
	num = situation.num_their_ballcontrollers;
	for(int i = 0; i < num; i ++){
		if (situation.Their_Ballcontrollers[i] > 2 * SP_team_size 
			|| situation.Their_Ballcontrollers[i] <= 0) continue;
		if (situation.Their_Ballcontrollers[i] <= SP_team_size){
			ballcontrollers[j ++] = situation.Their_Ballcontrollers[i] + SP_team_size;
		}
		else{
			ballcontrollers[j ++] = situation.Their_Ballcontrollers[i];
		}
		if (j >= 5) break;
	}

	num = situation.num_my_ballcontrollers;
	for(i = 0; i < num; i ++){
		ballcontrollers[j ++] = situation.My_Ballcontrollers[i];
		if (j >= 5) break;
	}
	for (i = j; i < 6; i ++){
		ballcontrollers[i] = -1;
	}
	AddMsg(Msg_Ballcontroller, ballcontrollers[0], ballcontrollers[1], ballcontrollers[2]
		, ballcontrollers[3], ballcontrollers[4], ballcontrollers[5]);
}
/********************	Hear	*******************************************/
void AuditoryProcess::HeardMyPlayerPos(UNum NO, Time time){
	if (!IsUniformNo(NO)) return;
	if (MyPlayer(NO).heard && time - TheirPlayer(NO).heardposinfo.time < 2){
	//if more than one heard msg before one update it, compare the conf of msgs
		if (MyPlayer(NO).heard_pos_conf > msgData[1] * Exp(MyPlayer(NO).conf_decay, float( MyPlayer(NO).heardposinfo.time - time)))
			return;
	}
	MyPlayer(NO).heard = true;
	MyPlayer(NO).heardposinfo = TimedData<Vector>(Vector(msgData[2], msgData[3]), time);
	MyPlayer(NO).heard_org_postime = int(msgData[1]) + time;
	DoRecord(LOG_HEAR, "Heard My %d time %d at (%.2f %.2f) at %d",NO, MyPlayer(NO).heard_org_postime, MyPlayer(NO).heardposinfo.data.x, MyPlayer(NO).heardposinfo.data.y, time);
}

void AuditoryProcess::HeardTheirPlayerPos(UNum NO, Time time){
	if (!IsUniformNo(NO)) return;
	if (TheirPlayer(NO).heard && time - TheirPlayer(NO).heardposinfo.time < 2){
	//if more than one heard msg before one update it, compare the conf of msgs
		if (TheirPlayer(NO).heard_pos_conf > msgData[1] * Exp(TheirPlayer(NO).conf_decay, float(TheirPlayer(NO).heardposinfo.time - time)))
			return;
	}
	TheirPlayer(NO).heard = true;
	TheirPlayer(NO).heardposinfo = TimedData<Vector>(Vector(msgData[2], msgData[3]), time);
	TheirPlayer(NO).heard_org_postime = int(msgData[1]) + time;
	DoRecord(LOG_HEAR, "Heard Their %d time %d at (%.2f %.2f) at %d", NO, TheirPlayer(NO).heard_org_postime, TheirPlayer(NO).heardposinfo.data.x, TheirPlayer(NO).heardposinfo.data.y, time);
}

void AuditoryProcess::HeardBallPos(Time time){
	if (ball.heard && time - ball.heardposinfo.time < 2){
	//if more than one heard msg before one update it, compare the conf of msgs
		if (ball.heard_pos_conf > msgData[1] * Exp(ball.conf_decay, float(ball.heardposinfo.time - time)))
			return;
	}
	ball.heard = true;
	ball.heardposinfo = TimedData<Vector>(Vector(msgData[1], msgData[2]), time);
	ball.heard_org_postime = int(msgData[0]) + time;
	DoRecord(LOG_HEAR, "Heard Ball(Pos) time %d at (%.2f %.2f) at %d", ball.heard_org_postime, ball.heardposinfo.data.x, ball.heardposinfo.data.y, time);
}

void AuditoryProcess::HeardBallVel(Time time){
	if (ball.heard && time - ball.heardvelinfo.time < 2){
	//if more than one heard msg before one update it, compare the conf of msgs
		if (ball.heard_vel_conf > msgData[1] * Exp(ball.conf_decay, float(ball.heardvelinfo.time - time)))
			return;
	}
	ball.heardvelinfo = TimedData<Vector>(Vector(msgData[1], msgData[2]), time);
	ball.heard_org_veltime = int(msgData[0]) + time;
	DoRecord(LOG_HEAR, "Heard Ball(Vel) time %d at (%.2f %.2f) at %d", ball.heard_org_veltime, ball.heardvelinfo.data.x, ball.heardvelinfo.data.y, time);
}

void AuditoryProcess::HeardBallcontrollers(Time time){
	int No;
	for(No = 1; No <= SP_team_size; No ++){
		MyPlayer(No).heard_iscontrolball = false;
		TheirPlayer(No).heard_iscontrolball = false;
	}
	for(int i = 0; i < 6; i ++){
		No = int(msgData[i]);
		if (No == -1)
			break;

		if (No >= 0){
			if (No <= SP_team_size){
				MyPlayer(No).heard_iscontrolball = true;
				DoRecord(LOG_HEAR, "Heard Ballctroller is %d", No);
			}
			else if(No <= 2 * SP_team_size){
				TheirPlayer(No - SP_team_size).heard_iscontrolball = true;
				DoRecord(LOG_HEAR, "Heard Ballctroller is %d", No);
			}
		}
	}
}

void AuditoryProcess::HeardPass(Time time){
	ball.heardpass = TimedData<bool>(true, time);
}
/***********	Strategy	****************/
bool AuditoryProcess::IsCaptain(UNum NO){
//goalie & a back and a midfielder and a forward is capitain of each line
	if (MyPlayer(NO).Is_goalie)
		return true;
	if (MyPlayer(NO).IsMid()){
		if (MyPlayer(NO).IsBack() && MyPlayer(NO).leftness >= 0.5f){
			return false;
		}
		return true;
	}
	return false;
}

bool AuditoryProcess::CanSpeak(){
		
	Time time = situation.CurrentTime;
	if (situation.ClockStopped){
		time = situation.ClockStoppedTime;
	}

	if (mediator.PassOut.time >= situation.CurrentTime -1 && mediator.PassOut.data){
	//pass out the ball, say it
		return true;
	}

	if ((ball.IsOtherKick()) && situation.BallFree && ball.distance < 20.0f){
		int num = motion.Num_MyVisiblePlayers();
		for(int i =0; i <num; i++){
			if (ball.distance > motion.MyPlayer_Close2Ball(i).balldist){
				break;
			}
		}
		if (i <= 1)
			return true;
		else
			return chance(2.0f / (i + 2));
	}

	if (IsCaptain(MyNumber) && time - LastSpeakingTime >= 3){
	//if you are captain speak at four different channel
		if (Self.Is_goalie)
			return time % 4 == 0;
		if (Self.IsBack())
			return time % 4 == 1;
		if (Self.IsMidFielder())
			return time % 4 == 2;
		if (Self.IsForward())
			return time % 4 == 3;
	}

	if (ball.kickable())
		return false;
	return (ball.distance < 3.0f && CP_Number % 3 == time % 3) || (ball.distance < 10.0f && CP_Number % 6 == time % 6);
}

void AuditoryProcess::Communication(){
	if (!CanSpeak()) return;

	AnnounceSelfPos();

	if (mediator.PassOut.time == situation.CurrentTime && mediator.PassOut.data){
		Vector predict_vel = ball.global_vel + action.KickEffect(situation.CurrentTime);
		Vector predict_pos = ball.pos;
		AddMsg(Msg_BallPos, 0, predict_pos.x, predict_pos.y);
		AddMsg(Msg_BallVel, 0, predict_vel.x, predict_vel.y);
		AddMsg(Msg_Ballcontroller, -1);
		AnnouncePass();
	}else if (ball.pos_valid() && ball.Rs_valid()){
		AnnounceBallPos();
		AnnounceBallcontroller();
		if (ball.speed_conf > 0.8f)
			AnnounceBallVel();
	}	

	for(int No = 1; No <= SP_team_size;	No++){
		if (MyPlayer(No).pos_valid() && MyPlayer(No).Rs_valid() ){
			AnnounceMyPlayerPos(No);
		}
		if (TheirPlayer(No).pos_valid() && TheirPlayer(No).Rs_valid()){
			AnnounceTheirPlayerPos(No);
		}
	}
	encipher(auditorybuffer, p_auditorybuffer);
	AddHeader();
	SendMsg();
}