worldmodel.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
 *  and is modified by: Mohammad Salehe, Mostafa Rokooey,
 *                      Sassan Haradji, Darioush Jalali
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <cmath>
#include <sstream>
#include <cassert>
#include <iostream>

#include <Config.h>
#include <Logger.h>
#include <Basics.h>
#include <Degree.h>
#include <Defines.h>
#include <WorldModel.h>
#include <SayEncoding.h>

using namespace std;
using namespace Basics;
using namespace Degree;

#define OPP_OFFLINE_LOCAL_X 20
#define OPP_OFFLINE_LOCAL_Y 10

#define MARKING_DECAY_FACTOR (0.8)
#define MARKING_THRESHOLD    (2.0)
#define MARKING_AREA         (2.75)

// class WorldModel

WorldModel::WorldModel()
{
	unsigned i;

	if (config["Agent"]["Server"]["OfflinePlayer"].asBool())
		timer = new VirtualTimer();
	else
		timer = new OnlineTimer();

	seeCycle = 0;
	curCycle = 0;
	curTime = 0;
	fieldSide = SI_LEFT;
	playMode = PM_BEFORE_KICK_OFF;
	virtualPlayMode = VPM_NONE;
	playModeRemainCycle = 0;

	setBodyReplaced(false);

	initViewPartDirs();
	resetSeeDeltaCycles();
	freeKickAdvicerSayCycle = 0;

	curKickCalculate.init();

	// Objects on the field.
	flagsNum = 0;
	goalsNum = 0;
	linesNum = 0;

	for (i = 0; i < FLAGS_NUM; i++)
		flags[i] = new FieldFlag();
	for (i = 0; i < GOALS_NUM; i++)
		goals[i] = new FieldGoal();
	for (i = 0; i < LINES_NUM; i++)
		lines[i] = new FieldLine();

	ball = new Ball;
	body = new Body;

	for (i = 0; i < FULL_PLAYERS_NUM; i++)
	{
		fullPlayers[TID_TEAMMATE][i] = new Player(PLM_FULL);
		fullPlayers[TID_TEAMMATE][i]->setUniNum(i + 1);
	}
	for (i = 0; i < FULL_PLAYERS_NUM; i++)
	{
		fullPlayers[TID_OPPONENT][i] = new Player(PLM_FULL);
		fullPlayers[TID_OPPONENT][i]->setUniNum(i + 1);
	}

	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		halfPlayers[TID_TEAMMATE][i] = new Player(PLM_HALF);
	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		halfPlayers[TID_OPPONENT][i] = new Player(PLM_HALF);

	for (i = 0; i < QUARTER_PLAYERS_NUM; i++)
		quarterPlayers[i] = new Player(PLM_QUARTER);
}

WorldModel::WorldModel(const WorldModel &worldModelCopy)
{
	copyFrom(worldModelCopy, false);

	LOG << "WorldModel copied." << endl;
}

WorldModel::~WorldModel()
{
	unsigned i;

	delete timer;

	for (i = 0; i < FLAGS_NUM; i++)
		delete flags[i];
	for (i = 0; i < GOALS_NUM; i++)
		delete goals[i];
	for (i = 0; i < LINES_NUM; i++)
		delete lines[i];

	delete ball;

	if (!isBodyReplaced())
		delete body; // else it will be deleted with other players.

	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		delete fullPlayers[TID_TEAMMATE][i];
	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		delete fullPlayers[TID_OPPONENT][i];

	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		delete halfPlayers[TID_TEAMMATE][i];
	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		delete halfPlayers[TID_OPPONENT][i];

	for (i = 0; i < QUARTER_PLAYERS_NUM; i++)
		delete quarterPlayers[i];
}

void WorldModel::copyFrom(const WorldModel &worldModelCopy, bool constructed)
{
	unsigned i;
	if (constructed)
	{
		LOG << "WorldModel copying 1" << endl;
	
		delete timer;
	
		for (i = 0; i < FLAGS_NUM; i++)
			delete flags[i];
		for (i = 0; i < GOALS_NUM; i++)
			delete goals[i];
		for (i = 0; i < LINES_NUM; i++)
			delete lines[i];
	
		delete ball;
	
		if (!isBodyReplaced())
			delete body; // else it will be deleted with other players.
	
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			delete fullPlayers[TID_TEAMMATE][i];
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			delete fullPlayers[TID_OPPONENT][i];
	
		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			delete halfPlayers[TID_TEAMMATE][i];
		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			delete halfPlayers[TID_OPPONENT][i];
	
		for (i = 0; i < QUARTER_PLAYERS_NUM; i++)
			delete quarterPlayers[i];
	}
	LOG << "WorldModel copying 2" << endl;

	*this = worldModelCopy;

	if (dynamic_cast<OnlineTimer *>(worldModelCopy.timer))
		timer = new OnlineTimer((const OnlineTimer&)*(worldModelCopy.timer));
	else
		timer = new VirtualTimer((const VirtualTimer&)*(worldModelCopy.timer));

	for (i = 0; i < FLAGS_NUM; i++)
		flags[i] = new FieldFlag(*(worldModelCopy.flags[i]));
	for (i = 0; i < GOALS_NUM; i++)
		goals[i] = new FieldGoal(*(worldModelCopy.goals[i]));
	for (i = 0; i < LINES_NUM; i++)
		lines[i] = new FieldLine(*(worldModelCopy.lines[i]));

	ball = new Ball(*(worldModelCopy.ball));
	body = new Body(*(worldModelCopy.body));

	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		fullPlayers[TID_TEAMMATE][i] =
			new Player(*(worldModelCopy.fullPlayers[TID_TEAMMATE][i]));
	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		fullPlayers[TID_OPPONENT][i] =
			new Player(*(worldModelCopy.fullPlayers[TID_OPPONENT][i]));

	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		halfPlayers[TID_TEAMMATE][i] =
			new Player(*(worldModelCopy.halfPlayers[TID_TEAMMATE][i]));
	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		halfPlayers[TID_OPPONENT][i] =
			new Player(*(worldModelCopy.halfPlayers[TID_OPPONENT][i]));

	for (i = 0; i < QUARTER_PLAYERS_NUM; i++)
		quarterPlayers[i] =
			new Player(*(worldModelCopy.quarterPlayers[i]));

	if (worldModelCopy.bodyReplacedFlag)
		replaceBodyInPlayersList(worldModelCopy.body->getUniNum());
}

void WorldModel::updateAfterSenseBody()
{
	curKickCalculate.setValid(false);

	resetHearedVarsAfterSenseBody();
}

void WorldModel::initServerParam(const SExpression &exp)
{
	int i;

	SExpAtomic *at = dynamic_cast<SExpAtomic *>(exp[0]);
	assert(at);
	assert(at->asString() == "server_param");

	for (i = 1; i < exp.size(); i++)
	{
		SExpression *se = dynamic_cast<SExpression *>(exp[i]);
		assert(se);
		SExpAtomic *at1 = dynamic_cast<SExpAtomic *>((*se)[0]);
		assert(at1);
		SExpAtomic *at2 = dynamic_cast<SExpAtomic *>((*se)[1]);
		assert(at2);
		serverParam.add(at1->asString(), at2->asString());
	}

	// now I can set default variables of objects.
	ball->setServerParamVars(serverParam);

	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		fullPlayers[TID_TEAMMATE][i]->setServerParamVars(serverParam);
	for (i = 0; i < FULL_PLAYERS_NUM; i++)
		fullPlayers[TID_OPPONENT][i]->setServerParamVars(serverParam);

	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		halfPlayers[TID_TEAMMATE][i]->setServerParamVars(serverParam);
	for (i = 0; i < HALF_PLAYERS_NUM; i++)
		halfPlayers[TID_OPPONENT][i]->setServerParamVars(serverParam);

	for (i = 0; i < QUARTER_PLAYERS_NUM; i++)
		quarterPlayers[i]->setServerParamVars(serverParam);
}

void WorldModel::initPlayerParam(const SExpression &exp)
{
	int i;

	SExpAtomic *at = dynamic_cast<SExpAtomic *>(exp[0]);
	assert(at);
	assert(at->asString() == "player_param");

	for (i = 1; i < exp.size(); i++)
	{
		SExpression *se = dynamic_cast<SExpression *>(exp[i]);
		assert(se);
		SExpAtomic *at1 = dynamic_cast<SExpAtomic *>((*se)[0]);
		assert(at1);
		SExpAtomic *at2 = dynamic_cast<SExpAtomic *>((*se)[1]);
		assert(at2);
		playerParam.add(at1->asString(), at2->asString());
	}

	playerTypes = vector<Param>(playerParam["player_types"].asInt());
}

void WorldModel::initPlayerType(const SExpression &exp)
{
	int i;

	SExpAtomic *at = dynamic_cast<SExpAtomic *>(exp[0]);
	assert(at);
	assert(at->asString() == "player_type");

	const SExpression &seid = exp["id"];
	at = dynamic_cast<SExpAtomic *>(seid[1]);
	assert(at);
	int id = at->asInt();
	
	for (i = 2; i < exp.size(); i++)
	{
		SExpression *se = dynamic_cast<SExpression *>(exp[i]);
		assert(se);
		SExpAtomic *at1 = dynamic_cast<SExpAtomic *>((*se)[0]);
		assert(at1);
		SExpAtomic *at2 = dynamic_cast<SExpAtomic *>((*se)[1]);
		assert(at2);
		playerTypes[id].add(at1->asString(), at2->asString());
	}

	if (id == 0) // now I can set default players type.
	{
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			fullPlayers[TID_TEAMMATE][i]->setType(0, playerTypes[0]);
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			fullPlayers[TID_OPPONENT][i]->setType(0, playerTypes[0]);

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			halfPlayers[TID_TEAMMATE][i]->setType(0, playerTypes[0]);
		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			halfPlayers[TID_OPPONENT][i]->setType(0, playerTypes[0]);

		for (i = 0; i < QUARTER_PLAYERS_NUM; i++)
			quarterPlayers[i]->setType(0, playerTypes[0]);
	}
}

void WorldModel::parseSee(const SExpression &exp)
{
	SExpAtomic *at;
	SExpression *se1,*se2;
	int i;

	at = dynamic_cast<SExpAtomic *>(exp[0]);
	assert(at);
	assert(at->asString() == "see");

	// See time
	at = dynamic_cast<SExpAtomic *>(exp[1]);
	assert(at);
	seeCycle = at->asInt();
	seeTime = getCurTime();

	for (i = 2; i < exp.size(); i++)
	{
		se1 = dynamic_cast<SExpression *>(exp[i]);
		assert(se1);
		se2 = dynamic_cast<SExpression *>((*se1)[0]);
		assert(se2);
		at = dynamic_cast<SExpAtomic *>((*se2)[0]);
		assert(at);

		switch (at->asString()[0])
		{
		case 'f':
			parseFlag(*se1);
			break;

		case 'g':
			parseGoal(*se1);
			break;

		case 'l':
			parseLine(*se1);
			break;

		case 'b':
		case 'B':
			parseBall(*se1);
			break;

		case 'p':
		case 'P':
			parsePlayer(*se1);
			break;

		case 'F':
		case 'L':
		case 'G':
			break; // Going to trash.

		default:
			assert(0);
		}
	}

}

void WorldModel::parseFlag(const SExpression &exp)
{
	SExpression *se;
	int flagId;

	se = dynamic_cast<SExpression *>(exp[0]);
	assert(se);
	flagId = fieldData.getFlagId(*se);

	flags[flagsNum]->parse(flagId, exp, getCurTime());
	flagsNum++;
}

void WorldModel::parseGoal(const SExpression &exp)
{
	SExpression *se;
	int goalId;

	se = dynamic_cast<SExpression *>(exp[0]);
	assert(se);
	goalId = fieldData.getGoalId(*se);

	goals[goalsNum]->parse(goalId, exp, getCurTime());
	goalsNum++;
}

void WorldModel::parseLine(const SExpression &exp)
{
	SExpression *se;
	int lineId;

	se = dynamic_cast<SExpression *>(exp[0]);
	assert(se);
	lineId = fieldData.getLineId(*se);

	lines[linesNum]->parse(lineId, exp, getCurTime());
	linesNum++;
}

void WorldModel::parseBall(const SExpression &exp)
{
	ball->parse(exp, getCurTime());
}

void WorldModel::parsePlayer(const SExpression &exp)
{
	SExpression *se;
	SExpAtomic *at;
	string ourTeamName;
	TeamId teamId = TID_UNKNOWN;
	unsigned uniNum = 0;
	bool isGoalie = false;
	unsigned i;

	se = dynamic_cast<SExpression *>(exp[0]);
	assert(se);
	
	if (se->size() > 1)
	{
		at = dynamic_cast<SExpAtomic *>((*se)[1]);
		assert(at);

		ourTeamName = (string)"\"" +
			config["Agent"]["Public"]["TeamName"].asString() + "\"";

		if (at->toString() == ourTeamName)
			teamId = TID_TEAMMATE;
		else
			teamId = TID_OPPONENT;
	}

	if (se->size() > 2)
	{
		at = dynamic_cast<SExpAtomic *>((*se)[2]);
		assert(at);
		uniNum = at->asInt();
	}

	if (se->size() > 3)
	{
		at = dynamic_cast<SExpAtomic *>((*se)[3]);
		assert(at);
		assert(at->toString() == "goalie");