rootplan.cpp

2006年世界杯足球赛2D仿真组第16名的源代码。在此代码上随便改改

/*
 *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  This file is created by: Sassan Haradji
 *  and is modified by: Ahmad Boorghany
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <iostream>

#include <Logger.h>
#include <Basics.h>
#include <RootPlan.h>
#include <GoalPlan.h>
#include <ClearPlan.h>
#include <SayEncoding.h>
#include <AdvancedAgent.h>
#include <BackToForwardPlan.h>
#include <cassert>

using namespace std;
using namespace Basics;

RootPlan::RootPlan(const WorldModel * wm, Form &form, const Library &library):
		Plan("Root", wm, form, library)
{
	LOG << "Planing System Start." << endl;

	iShouldRestore = false;
	crossPair = NULL;
}

RootPlan::~RootPlan()
{
}

double RootPlan::successRate()
{
 	return 1.0;
}

bool RootPlan::isFinished() 
{
	if (isInPlayers(wm->getBody().getUniNum(), "6789"))
	{
		resetPlans();
		return true;
	}

	if (wm->getPlayMode() != PM_PLAY_ON)
	{
		resetPlans();
		return true;
	}

	if (library.gwSelection == WOBS_LOOKFORBALL || wm->getBody().isGoalie() ||
			library.gwSelection == WOBS_BLOCK || library.gwSelection == WOBS_DEFENSE)
	{
		resetPlans();
		return true;
	}

	if (wm->isBallKickable() && wm->getPlayMode() == PM_PLAY_ON &&
			!wm->getBody().isGoalie() && library.gwSelection != WOBS_DEFENSE &&
			library.gwSelection != WOBS_INTERCEPT)
		return false;

	return false;
}

void RootPlan::decide()
{
	LOG << "RootPlan::decide" << endl;

/*	if (wm->isBallKickable())
		if (isInPlayers(wm->getBody().getUniNum(), "27"))
				form.sayForm.attentionNum = 10;
		else if (isInPlayers(wm->getBody().getUniNum(), "48"))
			form.sayForm.attentionNum = 11;
		else if (wm->getBody().getUniNum() == 3)
			form.sayForm.attentionNum = (wm->getBody().getPos().getY() > 0)?10:11;*/

	startPlan(new ClearPlan(wm, form, library)); // An urgent plan

//LOG << "\tAA  1" << endl;
//LOG << "\tAA  iShouldRestore" << iShouldRestore << endl;

	if (iShouldRestore)
	{
//LOG << "\tAA  2" << endl;
		resetPlans();

		if (crossPair)
		{
//LOG << "\tAA  3" << endl;

			subPlans.push(crossPair);
			crossPair = NULL;
		}
		else		
//{
//LOG << "\tAA  4" << endl;
			startPlan(new CrossPlan(wm, form, library));
//}
	}

	iShouldRestore = false;
//LOG << "\tAA  5" << endl;

	if (crossPair)
	{
		delete crossPair;
		crossPair = NULL;
	}

	if (!subPlans.empty() &&
		dynamic_cast<CrossPlan *>(subPlans.top()))
	{
//LOG << "\tAA  6" << endl;
		crossPair = new CrossPlan(*(dynamic_cast<CrossPlan *>(subPlans.top())));
		crossPair->resetAfterCopy();

		iShouldRestore = true;
	}

//LOG << "\tAA  7" << endl;
	if (!subPlans.empty() &&
		dynamic_cast<BackToForwardPlan *>(subPlans.top()))
	{
//LOG << "\tAA  8" << endl;
		Plan *cPlan = new CrossPlan(wm, form, library);
		float val = cPlan->successRate();
		if (val > 0.50)
		{
			resetPlans();
			startPlan(cPlan);
		}
	}
//LOG << "\tAA  9" << endl;

	Plan::decide();
//LOG << "\tAA  10" << endl;

	iShouldRestore = true;
	
	startPlan(new CrossPlan(wm, form, library));
//LOG << "\tAA  11" << endl;
	startPlan(new BackToForwardPlan(wm, form, library));
//LOG << "\tAA  12" << endl;
	startPlan(new GoalPlan(wm, form, library));
//LOG << "\tAA  13" << endl;

	LOG << "RootPlan Now Kill Program." << endl;
	assert(0);
}	

void RootPlan::senseBody(const SExpression &exp)
{
	iShouldRestore = false;
}