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

#include <cmath>

#include <Types.h>
#include <Logger.h>
#include <Degree.h>
#include <BasicDash.h>
#include <PassPlan.h>
#include <CrossPlan.h>
#include <ShootPlan.h>
#include <DribblePlan.h>
#include <InterceptPlan.h>
#include <AdvancedAgent.h>
#include <SRPDribblePlan.h>
#include <cassert>
#include <Basics.h>

using namespace std;
using namespace Basics;
CrossPlan::CrossPlan(const WorldModel *wm, Form &form, const Library &library):
		Plan("Cross", wm, form, library)
{
	fabric = true;
	intercepting = false;

	srpPlan = NULL;
	passPlan = NULL;
	shootPlan = NULL;
	dribblePlan = NULL;

	lastTurnTime = 0;
}

CrossPlan::~CrossPlan()
{
}

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

	fabric = false;

	if (wm->isBallKickable() || intercepting)
	{
		form.sayForm.planStatus = 3;
		form.sayForm.doRoutinSay = true;
	}

LOG << "11" << endl;
	Plan::decide();

LOG << "12" << endl;
	if (wm->isBallKickable())
	{
LOG << "13" << endl;
		startPlan(selectedPlan, 0);
	}
	else
	{
/*		Point offensePoint =
				library.positioning.getHomePoint(wm->getBody().getUniNum());

		Command *command = library.positioning.getPositioningCommand(offensePoint);
		command->setCreator(AT_OFFENSE);*/

LOG << "14" << endl;
		if (intercepting)
{
LOG << "15" << endl;
			startPlan(new InterceptPlan(wm, form, library));
}
		else
		{
LOG << "16" << endl;
			form.sayForm.attentionNum = wm->getPlanStatusSender();

			Point homePoint = library.positioning.getHomePoint(wm->getBody().getUniNum());
			LOG << "\thomePoint: " << homePoint << endl;
			LOG << "\tDist to Home: " << wm->getBody().getDistance(homePoint) << endl;
			
//			if (wm->getBall().getPos().getX() > 35 /*&&
//				wm->getBody().getDistance(homePoint) < 0.5*/) // TEMP
//				GlobalPositioning();

			LOG << "\tDeltaY: " << homePoint.y - wm->getBody().getPos().getY() << endl;
			LOG << "\tFrom last turn: " << wm->getCurTime() - lastTurnTime << endl;
			if (lastTurnTime == 0 ||
				(fabs(homePoint.y - wm->getBody().getPos().getY()) > 6.0 &&
				 wm->getCurTime() - lastTurnTime > 5))
			{ // We should turn
LOG << "17" << endl;
				Vector target;
				target.setByPoints((Point)wm->getBody().getPos(),
						Point(40,homePoint.y));

				LOG << "\ttarget: " << target << endl;
				LOG << "\tBest turn Angle: " << fabs(Degree::getDeltaAngle(wm->getBody().getBodyDir(),
						target.getDirection())) << endl;
				LOG << "\tDelta Angle to front: " << fabs(wm->getBody().getBodyDir()) << endl;
				LOG << "\tisBetween: " << Degree::isBetween(0, target.getDirection(), wm->getBody().getBodyDir()) << endl;

				if (lastTurnTime == 0 && // It is the start.
					fabs(Degree::getDeltaAngle(wm->getBody().getBodyDir(),
							target.getDirection())) < 7.5 &&
					(Degree::isBetween(0, target.getDirection(), wm->getBody().getBodyDir()) ||
					 fabs(wm->getBody().getBodyDir()) < 3))
				{ // Start going straight
					lastTurnTime = wm->getCurTime();
				}
				else
				{
LOG << "18" << endl;
					Command *command = DashNormalGotoPoint(AT_OFFENSE,
							Point(40,homePoint.y), 2, wm->getBody()).getCommand();

					if (!dynamic_cast<TurnCommand *>(command) || // for multi turns
						!fabs(dynamic_cast<TurnCommand *>(command)->getDirection()) == 180)
						lastTurnTime = wm->getCurTime();

					throw command;
				}
			}

			// We should go straight
LOG << "19" << endl;
			Vector straight(Point(20, 0));
			straight.rotate(wm->getBody().getBodyDir());
			Command *command = DashNormalGotoPoint(AT_OFFENSE,
					wm->getBody().getPos() + straight, 1, wm->getBody()).getCommand();

			if (wm->getBody().getPos().getX() > wm->getOppOffsideLine(true) + 2)
			{ // nearly I stop.
				float dashPower = fmin(
						dynamic_cast<DashCommand *>(command)->getPower(), 5);
				dynamic_cast<DashCommand *>(command)->setPower(dashPower);
			}
			else if (wm->getBody().getPos().getX() > wm->getOppOffsideLine(true) - 1.5)
			{ // I coorse slowly.
				float dashPower = fmin(
						dynamic_cast<DashCommand *>(command)->getPower(), 20);
				dynamic_cast<DashCommand *>(command)->setPower(dashPower);
			}

			throw command;
		}
	}

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

double CrossPlan::successRate()
{
	LOG << "CrossPlan::successRate" << endl;
	LOG << "FABRIC:" << fabric << endl;

	if (wm->isBallKickable())
	{
		intercepting = false;

		// Check for shoot
		if (shootPlan) delete shootPlan;
		shootPlan = new ShootPlan(wm, form, library);
		float val = shootPlan->successRate();
		if (val > 0.75) // ?
		{
			LOG << "\t --> Shoot executed: " << val << endl;
			selectedPlan = shootPlan;
			shootPlan = NULL;
			return 1.0;
		}

		if (wm->getBody().getPos().getX() >
				config["Agent"]["PlanningSystem"]["GoalPlanX"].asFloat())
		{
			LOG << "Coorse cancled... Taghdeem be goalPlan" << endl;
			return 0.0;
		}

		if (fabric == true)
		{

			float oppOffsideLine = wm->getOppLocalOffLine();
			if (oppOffsideLine == -0xFFFF)
				oppOffsideLine = wm->getOppOffsideLine();

			if (wm->getBall().getPos().getX() > oppOffsideLine - 6 &&
				wm->getBall().getPos().getX() > 15)
			{
				if (srpPlan) delete srpPlan;
				srpPlan = new SRPDribblePlan(wm, form, library);
				float val = srpPlan->successRate();

				LOG << "\tSRPDribble Success Rate: " << val << endl;

				if (val > 0.25)
				{
					LOG << "---> Coorse started." << endl;

					selectedPlan = srpPlan;
					srpPlan = NULL;

					intercepting = true;
					return 1.0;
				}
			}

			return 0.0;
		}
		else
		{
			// Check for pass
			if (dribblePlan) delete dribblePlan;
			dribblePlan = new DribblePlan(wm, form, library);
			float val = dribblePlan->successRate();
			LOG << "\tDribble Success Rate:" << val << endl;

			if (val < 0.25) // ?
			{
				if (passPlan) delete passPlan;
				passPlan = new PassPlan(wm, form, library, BPM_ALL, BPN_ALL);
				float val = passPlan->successRate();
				LOG << "\tPass success rate: " << val << endl;

				if (val > 0.23) // ?
				{
					LOG << "\t --> Pass executed." << endl;
					selectedPlan = passPlan;
					passPlan = NULL;
					return 1.0;
				}
			}

			// Check for SRPDribble
			if (srpPlan) delete srpPlan;
			srpPlan = new SRPDribblePlan(wm, form, library);
			val = srpPlan->successRate();
			LOG << "\tSRPDribble Success Rate:" << val << endl;

			if (val > 0.18)
			{
				LOG << "---> Coorse continued." << endl;

				selectedPlan = srpPlan;
				srpPlan = NULL;

				intercepting = true;
				return 1.0;
			}
			else
			{
				float oppOffsideLine = wm->getOppLocalOffLine();
				if (oppOffsideLine == -0xFFFF ||
					oppOffsideLine < wm->getBall().getPos().getX() + 1.5)
				{ // I'll check if I can do Dribble instead SRPDribble
					if (dribblePlan) delete dribblePlan;
					dribblePlan = new DribblePlan(wm, form, library);
					float val = dribblePlan->successRate();

					if (val > 0.2) // ?
					{
						selectedPlan = dribblePlan;
						dribblePlan = NULL;

						LOG << "---> Coorse continued as Dribble." << endl;

						intercepting = true;
						return 1.0;
					}
				}
			}

			LOG << "---> Coorse canceled." << endl;
			return 0.0;
		}
	}
	else
	{
		if (intercepting) // who is intercepting.
		{
			if (wm->getCurInterCalculate().getCheckedListNum(wm->getBody()) == NOVALUE)
				return 0.0; // I failed the coorse.
			return 1.0;
		}
		else // who is going to penalty area.
			if (!isInPlayers(wm->getBody().getUniNum(), "AB") && // A & B are independent
				wm->getHearedPlanStatus() == 3 &&
				wm->getBody().getPos().getX() <
					config["Agent"]["PlanningSystem"]["GoalPlanX"].asFloat())
				return 1.0;
	}

	return 0.0;
}

bool CrossPlan::isFinished()
{
	if (!isInPlayers(wm->getBody().getUniNum(), "234AB"))
		return true;
	return false;
}

void CrossPlan::GlobalPositioning()
{
	LOG << "CrossPlan::GlobalPositioning" << endl;

	Point offensePoint =
			library.positioning.getHomePoint(wm->getBody().getUniNum());

	LOG << "\toffensePoint: " << offensePoint << endl;

	Command *command = library.positioning.getPositioningCommand(offensePoint);
	command->setCreator(AT_OFFENSE);
	
	throw command;
}

void CrossPlan::resetAfterCopy()
{
	while (!subPlans.empty())
		subPlans.pop();

	srpPlan = NULL;
	passPlan = NULL;
	shootPlan = NULL;
	dribblePlan = NULL;
	selectedPlan = NULL;
}