strategy.h

FIRA 5V5比赛中一个机器人源代码 本科毕业设计做的

#ifndef Strategy_H
#define Strategy_H

// The following ifdef block is the standard way of creating macros which make exporting 
// from a DLL simpler. All files within this DLL are compiled with the STRATEGY_EXPORTS
// symbol defined on the command line. this symbol should not be defined on any project
// that uses this DLL. This way any other project whose source files include this file see 
// STRATEGY_API functions as being imported from a DLL, wheras this DLL sees symbols
// defined with this macro as being exported.
#ifdef STRATEGY_EXPORTS
#define STRATEGY_API __declspec(dllexport)
#else
#define STRATEGY_API __declspec(dllimport)
#endif

#include <string.h>
#include <stdio.h>

const long PLAYERS_PER_SIDE = 5;

static int gameStageCounter = 0;

// gameState
const long FREE_BALL = 1;
const long PLACE_KICK = 2;
const long PENALTY_KICK = 3;
const long FREE_KICK = 4;
const long GOAL_KICK = 5;

// whosBall
const long ANYONES_BALL = 0;
const long BLUE_BALL = 1;
const long YELLOW_BALL = 2;

// global variables -- Useful field positions ... maybe???
const double FTOP = 77.2392;
const double FBOT = 6.3730;
const double GTOPY = 49.6801;
const double GBOTY = 33.9320;
const double GRIGHT = 97.3632;
const double GLEFT = 2.8748;
const double FRIGHTX = 93.4259;
const double FLEFTX = 6.8118;
const double CENTERX = (FLEFTX+FRIGHTX)/2;
const double CENTERY = (FTOP+FBOT)/2;
const double OFFSETX = FRIGHTX+FLEFTX;
const double OFFSETY = FTOP+FBOT;
const double GUARD_POS_X= 32.1111;

const double PI = 3.14159265358979;

const double FIELD_WIDTH = (77.2392 - 6.3730);
const double FIELD_LENGTH = (93.4259 - 6.8118);
const double GOAL_LENGTH = (49.6801 - 33.9320);
const double GOAL_WIDTH = 15.0/1.55;
const double DIVISOR_FIELD = 3.0/1.55;

const double OUR_GOAL_POSITION_X= 7.3230;
const double OUR_GOAL_POSITION_Y= 41.6682;
const double MIDDLE_Y = 42.3333;
const double LIMIT_X_HIGH= 10.8;
const double LIMIT_X_LOW= 8.6;
const double LIMIT_Y_HIGH= 50;
const double LIMIT_Y_LOW= 31;


typedef struct
{
	double Degree, Radian;
} AngleType;

typedef struct
{
	double Left;
	double Right;
} Velocity;

typedef struct
{
	double x, y, z;
} Vector3D;

const Vector3D HOME_GOAL_CENTER_POSITION = {FLEFTX, CENTERY, 0};
//Vector3D ourGoalPosition={FLEFTX, CENTERY, 0};

typedef struct
{
	long left, right, top, bottom;
} Bounds;

typedef struct
{
	Vector3D pos;
	double rotation;
	double velocityLeft, velocityRight;
} Robot;

typedef struct
{
	Vector3D pos;
	double rotation;
} OpponentRobot;

typedef struct
{
	Vector3D pos;
} Ball;

typedef struct entity
{
	double distance;
	double angle;
} INFO;

//User Structure
typedef struct
{
	Vector3D Position;
	Vector3D lastPosition;
	Velocity MaxVelocity, CalculatedVelocity, LastVelocity;
	double RobotStatus;
	AngleType Angle;
	BOOL BehindBall;
	BOOL Possession;
	bool ToOppoPathClear;

	double GoForBall;
	
	double GoalAngle;
	INFO toRobot[5];
	INFO toOppo[5];
	INFO toBall;
	INFO toGoalTop;
	INFO toGoalBottom;
	INFO toPenaltyPoint;
	INFO toGoalCenter;

} UserRobot;

typedef struct
{
	Vector3D Position;
	double Velocity;
} UserBall;

typedef struct
{
	UserBall CurrentBall, LastBall, PredictedBall;
} UserBallData;


typedef struct
{
	//User Data
	int zoneX;
	int zoneY;

	int homeGoal;
	int oppoGoal;
	int upper;
	int lower;
	int shootArea;

	//Role
	int attacker;
	int support1;
	int support2;
	int sweeper;
	int goalie;
	
	double robotVelocity[5];
	double oldX[5];
	double oldY[5];
	
	UserRobot HomeRobotData[PLAYERS_PER_SIDE];
	UserRobot OpponentRobotData[PLAYERS_PER_SIDE];
	UserBallData BallData;

} UserDefStruct;
//End Of User Structure

typedef struct
{
	Robot home[PLAYERS_PER_SIDE];
	OpponentRobot opponent[PLAYERS_PER_SIDE];
	Ball currentBall, lastBall, predictedBall;
	Bounds fieldBounds, goalBounds;
	long gameState;
	long whosBall;
//	void *userData;
	UserDefStruct *userData;
} Environment;


typedef void (*MyStrategyProc)(Environment*);

/* MUST BE IMPLEMENTED */
extern "C" STRATEGY_API void Create ( Environment *env ); // implement this function to allocate user data and assign to Environment->userData
extern "C" STRATEGY_API void Strategy ( Environment *env );
extern "C" STRATEGY_API void Destroy ( Environment *env ); // implement this function to free user data created in  Create (Environment*)

#endif // Strategy_H