gotosideplan.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
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <AdvancedAgent.h>
#include <GotoSidePlan.h>
#include <DribblePlan.h>
#include <PassPlan.h>
#include <InterceptPlan.h>
#include <OffensePosPlan.h>
#include <Logger.h>
#include <Basics.h>
#include <cassert>

using namespace std;
using namespace Basics;

GotoSidePlan::GotoSidePlan(const WorldModel *wm, Form &form,
		const Library &library, Side side): Plan("GotoSide", wm, form, library),
		side(side), passCycle(0), getBallCycle(0),
		minSuccessRate(.24)
{
}

GotoSidePlan::~GotoSidePlan()
{
}

void GotoSidePlan::decide()
{
	if (side == SI_LEFT)
		LOG << "GotoSidePlan::decide (Side : Left)" << endl;
	else
		LOG << "GotoSidePlan::decide (Side : Right)" << endl;

	Plan::decide();

	if (wm->isBallKickable())
	{
		if (!getBallCycle)
			getBallCycle = wm->getCurCycle();
		passCycle = wm->getCurCycle();
		switch (side)
		{
		case SI_LEFT:
			if (wm->getBody().getUniNum() == 2)
				startPlan(new PassPlan(wm, form, library,
						BPM_BREAKOFFSIDE + BPM_OFFENSE, 10, 70, 110, 60, 120),
						minSuccessRate);

			startPlan(bestPlan(6, true,
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							2, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							3, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							4, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							7, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							8, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							11, 0, 120, 0, 120)), minSuccessRate);
			break;

		case SI_RIGHT:
			if (wm->getBody().getUniNum() == 4)
				startPlan(new PassPlan(wm, form, library,
						BPM_BREAKOFFSIDE + BPM_OFFENSE, 11, -110, -70, -120, -60),
						minSuccessRate);

			startPlan(bestPlan(6, true,
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							4, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							3, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							2, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							8, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							7, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							10, -120, 0, -120, 0)), minSuccessRate);
			break;
		}
		passCycle = 0;

		LOG << name << " Plan WARNING!!! : "
				<< "All WithBall Plans Finished Without Return Any Command." << endl;
		LOG << name << " Plan : "
				<< "Now Run Dribble Plan Without Check SuccessRate or isFinished"
				<< "(Urgent State)." << endl;

		DribblePlan dribblePlan(wm, form, library);
		dribblePlan.decide();
	}
	else
	{
		getBallCycle = 0;

		if (library.gwSelection == WOBS_INTERCEPT)
			startPlan(new InterceptPlan(wm, form, library));
		startPlan(new OffensePosPlan(wm, form, library));
	}

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

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

bool GotoSidePlan::isFinished()
{
	if (passCycle == wm->getCurCycle() - 1) 
	{
		if (side == SI_LEFT)
		{
			form.sayForm.planSay = true;
			form.sayForm.planHeader = "X";
			form.sayForm.planInfo = "GSPL";
		}
		else
		{
			form.sayForm.planSay = true;
			form.sayForm.planHeader = "X";
			form.sayForm.planInfo = "GSPR";
		}
		return true;
	}
	if (!wm->isBallKickable()) return false;
 	if (getBallCycle + 5 >= wm->getCurCycle()) return true;
	try
	{
		switch (side)
		{
		case SI_LEFT:
			if (wm->getBody().getUniNum() == 2)
				throw (new PassPlan(wm, form, library, BPM_BREAKOFFSIDE + BPM_OFFENSE,
						10, 70, 110, 60, 120));

			throw (bestPlan(7, true,
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							2, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							3, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							4, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							5, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							7, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							8, 0, 120, 0, 120),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							11, 0, 120, 0, 120)));
			break;

		case SI_RIGHT:
			if (wm->getBody().getUniNum() == 4)
				throw (new PassPlan(wm, form, library, BPM_BREAKOFFSIDE + BPM_OFFENSE,
						11, -110, -40, -120, -40));

			throw (bestPlan(7, true,
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							4, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							3, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							2, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							5, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							8, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							7, -120, 0, -120, 0),
					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,
							10, -120, 0, -120, 0)));
			break;
		}
	}
	catch(Plan *tempPlan)
	{
		bool finished = true;
		if (tempPlan->successRate() >= minSuccessRate)
			finished = false;
		delete tempPlan;
		return finished;
	}
	if (((isInPlayers(wm->getBody().getUniNum(), "234578B") && side == SI_LEFT) ||
			(isInPlayers(wm->getBody().getUniNum(), "234578A") && side == SI_RIGHT)))
		return false;
	return true;
}