player.c

机器足球2D比赛程序 对trlen_base_2002的改进

/*
   Copyright (c) 2000-2002, Jelle Kok, University of Amsterdam
   All rights reserved.

   Redistribution and use in source and binary forms, with or without 
   modification, are permitted provided that the following conditions are met:

   1. Redistributions of source code must retain the above copyright notice, this 
   list of conditions and the following disclaimer. 

   2. Redistributions in binary form must reproduce the above copyright notice, 
   this list of conditions and the following disclaimer in the documentation 
   and/or other materials provided with the distribution. 

   3. Neither the name of the University of Amsterdam nor the names of its 
   contributors may be used to endorse or promote products derived from this 
   software without specific prior written permission. 

   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE 
   FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
   DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
   SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
   CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
   OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   */
/*! \file Player.C

  <pre>
  <b>File:</b>          Player.C
  <b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn
  <b>Authors:</b>       Jelle Kok
  <b>Created:</b>       03/03/2001
  <b>Last Revision:</b> $ID$
  <b>Contents:</b>      This file contains the definitions for the Player class,
  which is a superclass from BasicPlayer and contains the
  decision procedure to select the skills from the
  BasicPlayer. 
  <hr size=2>
  <h2><b>Changes</b></h2>
  <b>Date</b>             <b>Author</b>          <b>Comment</b>
  03/03/2001       Jelle Kok       Initial version created
  </pre>
  */
#include "Player.h"
#include "Parse.h"
#include <sys/poll.h>		// needed for 'poll'

static bool isPlayOn = true;

/*!This is the constructor the Player class and calls the constructor of the
  superclass BasicPlayer.
  \param act ActHandler to which the actions can be sent
  \param wm WorldModel which information is used to determine action
  \param ss ServerSettings that contain parameters used by the server
  \param ps PlayerSettings that contain parameters important for the client
  \param strTeamName team name of this player
  \param dVersion version this basicplayer corresponds to
  \param iReconnect integer that defines player number (-1 when new player) */
Player::Player(ActHandler * act, WorldModel * wm, ServerSettings * ss,
		PlayerSettings * ps,
		Formations * fs, char *strTeamName, double dVersion,
		int iReconnect)
{
	char str[MAX_MSG];

	ACT = act;
	WM = wm;
	SS = ss;
	PS = ps;
	formations = fs;
	bContLoop = true;
	WM->setTeamName(strTeamName);
	m_timeLastSay = -5;
	m_iPenaltyNr = 0;

	// wait longer as role number increases, to make sure players appear at the
	// field in the correct order
	poll(0, 0, formations->getPlayerInFormation() * 100);

	// create initialisation string
	if (iReconnect != -1)
		sprintf(str, "(reconnect %s %d)", strTeamName, iReconnect);
	else if (formations->getPlayerType() == PT_GOALKEEPER)
		sprintf(str, "(init %s (version %f) (goalie))", strTeamName,
				dVersion);
	else
		sprintf(str, "(init %s (version %f))", strTeamName, dVersion);
	ACT->sendMessage(str);
}

/*! This is the main loop of the agent. This method calls the update methods
  of the world model after it is indicated that new information has arrived.
  After this, the correct main loop of the player type is called, which
  puts the best soccer command in the queue of the ActHandler. */
	void
Player::mainLoop()
{
	while (bContLoop)		// as long as server alive
	{
		Log.logWithTime(3, "  start update_all");
		Log.setHeader(WM->getCurrentCycle(), WM->getPlayerNumber());

		if (WM->updateAll() == true) {
			if ((WM->isPenaltyUs() || WM->isPenaltyThem()))
				performPenalty();
			else if (WM->getPlayMode() == PM_FROZEN)
				ACT->putCommandInQueue(turnBodyToObject(OBJECT_BALL));
			else {
				//formationDecision ();    //确定比赛阵型。

				if (shallISaySomething() == true)	// shall I communicate
				{
					m_timeLastSay = WM->getCurrentTime();
					ACT->sendCommandDirect(sayBallStatus());
				}

				switch (formations->getPlayerType())	// determine right loop
				{
					case PT_GOALKEEPER:
						goalieMainLoop();
						break;
					case PT_DEFENDER_SWEEPER:
					case PT_DEFENDER_WING:
						defenderMainLoop();
						break;
					case PT_MIDFIELDER_CENTER:
					case PT_MIDFIELDER_WING:
						midfielderMainLoop();
						break;
					case PT_ATTACKER:
					case PT_ATTACKER_WING:
						attackerMainLoop();
						break;
					case PT_ILLEGAL:
					default:
						break;
				}
			}
			Log.logWithTime(3,
					"  determined action; waiting for new info");

			// directly after see message, will nog get better info, so send commands
			if (WM->getTimeLastSeeMessage() == WM->getCurrentTime())
				ACT->sendCommands();
		} else
			Log.logWithTime(3,
					"  HOLE no action determined; waiting for new info");

		// wait for new information from the server
		// cannot say bContLoop=WM->wait... since bContLoop can be changed elsewhere
		if (WM->waitForNewInformation() == false)
			bContLoop = false;
	}

	// shutdow, print hole and number of players seen statistics
	Log.logWithTime(777, "Shutting down player %d\n",
			WM->getPlayerNumber());
	Log.logWithTime(777, "   Number of holes: %d (%f)\n", WM->iNrHoles,
			((double) WM->iNrHoles / WM->getCurrentCycle()) * 100);
	Log.logWithTime(777, "   Teammates seen: %d (%f)\n",
			WM->iNrTeammatesSeen,
			((double) WM->iNrTeammatesSeen /
			 WM->getCurrentCycle()));
	Log.logWithTime(777, "   Opponents seen: %d (%f)\n",
			WM->iNrOpponentsSeen,
			((double) WM->iNrOpponentsSeen /
			 WM->getCurrentCycle()));

}

/*! This is the main decision loop for the goalkeeper. */
void Player::goalieMainLoop()
{
	//deMeer5_goalie();
	goalieStrategy();
}

/*! This is the main decision loop for a defender. 
 *              后卫决策
 *
 *      此时已经确定好阵型和自己的角色，
 *      现在需要根据场上的状态决定自己下一步的行动。
 */
void Player::defenderMainLoop()
{
	//deMeer5() ;

	SoccerCommand soc(CMD_ILLEGAL);
	SoccerCommand socVisual(CMD_ILLEGAL);
	VecPosition posAgent = WM->getAgentGlobalPosition();
	VecPosition posStrat = WM->getStrategicPosition();
	VecPosition posBall = WM->getBallPos();

	//行为决策部分。
	if (WM->isKickOffThem());	// do nothing
	else if (WM->isBeforeKickOff()) {
		if (formations->getFormation() != FT_INITIAL)
			formations->setFormation(FT_INITIAL);	// go to kick_off formation       
		if (WM->isKickOffThem()
				&& posStrat.getDistanceTo(VecPosition(0, 0)) < 9.0)
			posStrat.setX(-10.0);
		if (posAgent.getDistanceTo(posStrat) > 2.0)
			soc = teleportToPos(posStrat);
		else			// else turn to center
		{
			soc = turnBodyToPoint(VecPosition(0, 0), 0);
			//ACT->putCommandInQueue( alignNeckWithBody( ) );
		}
	} else if (WM->isCornerKickUs() || WM->isFreeKickUs()) {
		isPlayOn = false;
		soc = midfielderStrategy();
	} else {
		isPlayOn = true;
		soc = defenderStrategy();
	}

	ACT->putCommandInQueue(soc);

	//视觉决策部分。
	socVisual = visualDecision(soc);
	ACT->putCommandInQueue(socVisual);
	//}

	}

/*! This is the main decision loop for a midfielder. 
 *                中场决策
 *
 *      此时已经确定好阵型和自己的角色，
 *      现在需要根据场上的状态决定自己下一步的行动。
 */
void Player::midfielderMainLoop()
{
	//deMeer5() ;

	//首先要确定球的位置。
	if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr()) {
		ACT->putCommandInQueue(searchBall());	// if ball pos unknown
		ACT->putCommandInQueue(alignNeckWithBody());	// search for it
		return;
	}

	else {
		SoccerCommand soc(CMD_ILLEGAL);
		SoccerCommand socVisual(CMD_ILLEGAL);
		VecPosition posAgent = WM->getAgentGlobalPosition();
		VecPosition posStrat = WM->getStrategicPosition();
		VecPosition posBall = WM->getBallPos();


		//行为决策部分。
		if (WM->isKickOffThem());	// do nothing
		else if (WM->isBeforeKickOff()) {
			if (formations->getFormation() != FT_INITIAL)
				formations->setFormation(FT_INITIAL);	// go to kick_off formation       
			if (WM->isKickOffThem()
					&& posStrat.getDistanceTo(VecPosition(0, 0)) < 9.0)
				posStrat.setX(-10.0);
			if (posAgent.getDistanceTo(posStrat) > 2.0)
				soc = teleportToPos(posStrat);
			else		// else turn to center
			{
				soc = turnBodyToPoint(VecPosition(0, 0), 0);
				//ACT->putCommandInQueue( alignNeckWithBody( ) );
			}
		} else if (WM->isCornerKickUs() || WM->isFreeKickUs()) {
			isPlayOn = false;
			soc = midfielderStrategy();
		} else {
			isPlayOn = true;
			soc = midfielderStrategy();
		}

		ACT->putCommandInQueue(soc);

		//视觉决策部分。
		socVisual = visualDecision(soc);
		ACT->putCommandInQueue(socVisual);
	}

}

/*! This is the main decision loop for an agent. 
 *                  前锋决策
 *
 *      此时已经确定好阵型和自己的角色，
 *      现在需要根据场上的状态决定自己下一步的行动。
 */
void Player::attackerMainLoop()
{
	//deMeer5() ;

	//首先要确定球的位置。
	if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr()) {
		ACT->putCommandInQueue(searchBall());	// if ball pos unknown
		ACT->putCommandInQueue(alignNeckWithBody());	// search for it
		return;
	}

	else {
		SoccerCommand soc(CMD_ILLEGAL);
		SoccerCommand socVisual(CMD_ILLEGAL);
		VecPosition posAgent = WM->getAgentGlobalPosition();
		VecPosition posStrat = WM->getStrategicPosition();
		VecPosition posBall = WM->getBallPos();


		//行为决策部分。
		if (WM->isKickOffThem());	// do nothing
		else if (WM->isBeforeKickOff()) {
			if (formations->getFormation() != FT_INITIAL)
				formations->setFormation(FT_INITIAL);	// go to kick_off formation       
			if (WM->isKickOffThem()
					&& posStrat.getDistanceTo(VecPosition(0, 0)) < 9.0)
				posStrat.setX(-10.0);
			if (posAgent.getDistanceTo(posStrat) > 2.0)
				soc = teleportToPos(posStrat);
			else		// else turn to center
			{
				soc = turnBodyToPoint(VecPosition(0, 0), 0);
				//ACT->putCommandInQueue( alignNeckWithBody( ) );
			}
		} else if (WM->isCornerKickUs() || WM->isFreeKickUs()) {
			isPlayOn = false;
			soc = attackerStrategy();
		} else {
			isPlayOn = true;
			soc = attackerStrategy();
		}

		ACT->putCommandInQueue(soc);

		//视觉决策部分。
		socVisual = visualDecision(soc);
		ACT->putCommandInQueue(socVisual);
	}

}

/*!This method is the first complete simple team and defines the actions taken
  by all the players on the field (excluding the goalie). It is based on the
  high-level actions taken by the simple team FC Portugal that it released in
  2000. The players do the following:
  - if ball is kickable
  kick ball to goal (random corner of goal)
  - else if i am fastest player to ball and no opponent can intercept ball
  intercept the ball
  - else
  move to strategic position based on your home position and pos ball */
void Player::deMeer5()
{

	SoccerCommand soc(CMD_ILLEGAL);
	VecPosition posAgent = WM->getAgentGlobalPosition();
	VecPosition posBall = WM->getBallPos();
	int iTmp;

	if (WM->isKickOffThem());	// do nothing
	else if (WM->isBeforeKickOff()) {
		if (formations->getFormation() != FT_INITIAL)
			formations->setFormation(FT_INITIAL);	// go to kick_off formation
		VecPosition posStrat = WM->getStrategicPosition();
		if (WM->isKickOffThem()
				&& posStrat.getDistanceTo(VecPosition(0, 0)) < 9.0)
			posStrat.setX(-10.0);

		if (posAgent.getDistanceTo(posStrat) > 2.0)
			ACT->putCommandInQueue(teleportToPos(posStrat));
		else			// else turn to center
		{
			ACT->putCommandInQueue(turnBodyToPoint(VecPosition(0, 0), 0));
			ACT->putCommandInQueue(alignNeckWithBody());
		}
	} else {
		formations->setFormation(FT_433_OFFENSIVE);
		soc.commandType = CMD_ILLEGAL;
		if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr()) {
			ACT->putCommandInQueue(searchBall());	// if ball pos unknown
			ACT->putCommandInQueue(alignNeckWithBody());	// search for it
		} else if (WM->isBallKickable())	// if kickable
		{
			VecPosition posGoal(PITCH_LENGTH / 2.0,
					(-1 +
					 2 * (WM->getCurrentCycle() % 2)) * 0.4 *
					SS->getGoalWidth());
			soc = kickTo(posGoal, SS->getBallSpeedMax());	// kick maximal

			ACT->putCommandInQueue(soc);
			ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
			Log.log(100, "kick ball");
		} else if (WM->
				getFastestInSetTo(OBJECT_SET_TEAMMATES, OBJECT_BALL,
					&iTmp) == WM->getAgentObjectType()
				&& !WM->isDeadBallThem()) {	// if fastest to ball
			Log.log(100,
					"I am fastest to ball; can get there in %d cycles",
					iTmp);
			soc = intercept(false);	// intercept the ball

			if (soc.commandType == CMD_DASH &&	// if stamina low
					WM->getAgentStamina().getStamina() <
					SS->getRecoverDecThr() * SS->getStaminaMax() + 200) {
				soc.dPower = 30.0 * WM->getAgentStamina().getRecovery();	// dash slow
				ACT->putCommandInQueue(soc);
				ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
			} else		// if stamina high
			{
				ACT->putCommandInQueue(soc);	// dash as intended
				ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
			}
		} else if (posAgent.getDistanceTo(WM->getStrategicPosition()) >
				1.5 + fabs(posAgent.getX() - posBall.getX()) / 10.0)
			// if not near strategic pos
		{
			if (WM->getAgentStamina().getStamina() >	// if stamina high
					SS->getRecoverDecThr() * SS->getStaminaMax() + 200) {
				soc =
					moveToPos(WM->getStrategicPosition(),
							PS->getPlayerWhenToTurnAngle());
				ACT->putCommandInQueue(soc);	// move to strategic pos
				ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
			} else		// else watch ball
			{
				ACT->putCommandInQueue(soc =
						turnBodyToObject(OBJECT_BALL));
				ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
			}
		} else if (fabs(WM->getRelativeAngle(OBJECT_BALL)) > 1.0)	// watch ball
		{
			ACT->putCommandInQueue(soc = turnBodyToObject(OBJECT_BALL));
			ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));
		} else			// nothing to do
			ACT->putCommandInQueue(SoccerCommand(CMD_TURNNECK, 0.0));
	}
}


/*!This method is a simple goalie based on the goalie of the simple Team of
  FC Portugal. It defines a rectangle in its penalty area and moves to the
  position on this rectangle where the ball intersects if you make a line
  between the ball position and the center of the goal. If the ball can
  be intercepted in the own penalty area the ball is intercepted and catched.
  */
void Player::deMeer5_goalie()
{
	int i;
	SoccerCommand soc;
	VecPosition posAgent = WM->getAgentGlobalPosition();
	AngDeg angBody = WM->getAgentGlobalBodyAngle();

	// define the top and bottom position of a rectangle in which keeper moves
	static const VecPosition posLeftTop(-PITCH_LENGTH / 2.0 +
			0.7 * PENALTY_AREA_LENGTH,
			-PENALTY_AREA_WIDTH / 4.0);
	static const VecPosition posRightTop(-PITCH_LENGTH / 2.0 +
			0.7 * PENALTY_AREA_LENGTH,
			+PENALTY_AREA_WIDTH / 4.0);

	// define the borders of this rectangle using the two points.
	static Line lineFront =
		Line::makeLineFromTwoPoints(posLeftTop, posRightTop);
	static Line lineLeft =
		Line::makeLineFromTwoPoints(VecPosition(-50.0, posLeftTop.getY()),
				posLeftTop);
	static Line lineRight =
		Line::makeLineFromTwoPoints(VecPosition(-50.0, posRightTop.getY()),
				posRightTop);