instintive.cpp.svn-base

来自「一个巴西大学编写的2D仿真组足球机器人程序」· SVN-BASE 代码 · 共 1,358 行 · 第 1/4 页

/*
 *  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; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  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 General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 */

#include "Instintive.h"

Instintive::Instintive()
{
   mInferenceEngine.loadFacts(&mFactsBase);
   mInferenceEngine.loadRules(&mRulesBase);
   mFactsBase.addLogicPattern("player","ball_kickable","false");
   mFactsBase.addLogicPattern("player","localization","AREA_DEFENSE");
   mFactsBase.addLogicPattern("player","fastest_to_ball","false");
   mFactsBase.addLogicPattern("opponent","close_to_player","false");
   mFactsBase.addLogicPattern("reactive_behavior","active","none");
   mFactsBase.addLogicPattern("ball","position","unknown");
   mFactsBase.addLogicPattern("teammate","has_ball","false");
   mFactsBase.addLogicPattern("close_opponent","has_ball","false");
   mFactsBase.addLogicPattern("game","mode","PM_BEFORE_KICK_OFF");	
   mFactsBase.addLogicPattern("player","bestOptionKick","none");
   mFactsBase.addLogicPattern("player","confidence_for_kick","false");
   //mFactsBase.addLogicPattern("ball","atuation_zone","false");
   mFactsBase.addLogicPattern("player", "pass_ball", "teammate_10");
   mFactsBase.addLogicPattern("player","front_space","free");
   mFactsBase.addLogicPattern("player","next_line_r","false");
   mFactsBase.addLogicPattern("player","next_line_of_deep","false");
   mFactsBase.addLogicPattern("midplayers","has_ball","false");
   mFactsBase.addLogicPattern("attackplayers","has_ball","false");
   mFactsBase.addLogicPattern("dead_ball","situation","none");
   mFactsBase.addLogicPattern("player", "back_goalie", "false");
   mFactsBase.addLogicPattern("player", "distance_to_goalie", "dont_small");
   /*mFactsBase.addLogicPattern("pass_condition","teammate_three","false");
   mFactsBase.addLogicPattern("pass_condition","teammate_four","false");
   mFactsBase.addLogicPattern("pass_condition","teammate_five","false");*/
   mFactsBase.addLogicPattern("pass_condition","teammate_six","false");
   mFactsBase.addLogicPattern("pass_condition","teammate_seven","false");
   mFactsBase.addLogicPattern("pass_condition","teammate_eight","false");
   mFactsBase.addLogicPattern("pass_condition","teammate_nine","false");
   mFactsBase.addLogicPattern("pass_condition","teammate_ten","false");
   mFactsBase.addLogicPattern("pass_condition","teammate_eleven","false");
   mFactsBase.addLogicPattern("player","sick","false");
   mFactsBase.addLogicPattern("ball","orientationLR","left");
   mFactsBase.addLogicPattern("ball","orientationNS","south");
   mFactsBase.addLogicPattern("player","orientationLR","left");
   mFactsBase.addLogicPattern("player","orientationNS","south");
   mFactsBase.addLogicPattern("opponent","localization","left");

   WM = WorldModel::getInstance();
   PS = PlayerSettings::getInstance();
   SS = ServerSettings::getInstance();
   pastAgentNextLineOfDeep = false;
   pastConfidenceToPass3 = false;
   pastConfidenceToPass4 = false;
   pastConfidenceToPass5 = false;
   pastConfidenceToPass6 = false;
   pastConfidenceToPass7 = false;
   pastConfidenceToPass8 = false;
   pastConfidenceToPass9 = false;
   pastConfidenceToPass10 = false;
   pastConfidenceToPass11 = false;
   pastConfidenceForKick = false;
   pastPlayMode = false;
   pastAgentFrontFreeSpace = false;
   pastBallKickable = false;
   pastBallOurPossesion = false;
   pastFastestToBall = false;
   pastCloseToPlayer = false;
   pastBallPositonKnown = false;
   //pastBallAtuationZone = false;
   pastAgentNextLineR = false;
   pastBallMidplayerPossesion = false; 
   pastBallAttackplayerPossesion = false; 
   pastTeammateSick = false;
   //pastPositionOpponent1;
   pastBestOptionKick = "none";
   pastDeadBall = "none";
   pastChoosePass9 = OBJECT_ILLEGAL;
   pastChoosePass2 = OBJECT_ILLEGAL;
   pastChoosePass5 = OBJECT_ILLEGAL;
   pastChoosePass3 = OBJECT_ILLEGAL;
   pastChoosePass4 = OBJECT_ILLEGAL;
   pastChoosePass6 = OBJECT_ILLEGAL;
   pastChoosePass7 = OBJECT_ILLEGAL;
   pastChoosePass8 = OBJECT_ILLEGAL;
   pastPlayerLocalization = AREA_ILLEGAL;
   pastBallLocalization = AREA_ILLEGAL;
   pastBackGoalie = false;
   pastDistanceToGoalie = 50.0;
   pastBallLeftPosition = true;
   pastBallSouthPosition = true;
   pastPlayerLeftPosition = true;
   pastPlayerSouthPosition = true;
   pastOpponentLocalization = "left";
   pastBallPossesionOpponent = false;
   cout << "inicializacao do instintivo" << endl;
}

void Instintive::loadRulesBase()
{
   string fileName;
   // convertendo inteiro em string com strigstream
   stringstream ss;
   string playerNumber;
   ss << WM->getPlayerNumber();
   ss >> playerNumber;
   fileName = RulesBase::RulesPath + "instintive" + playerNumber + ".rules";
   cout <<"instintive rules file: "<< fileName << endl;
   mRulesBase.loadRulesFile( (char*)fileName.c_str() );
}

string Instintive::makeInference()
{
   // gera mensagem para escolha do comportamento

   /*if( updateFactsBase() )
   {
      if ( WM->getPlayerNumber() == 9 )
         mFactsBase.print();
   }*/
   updateFactsBase();

   mInferenceEngine.inference();

   m_localGoal.current = mInferenceEngine.getLocalGoalCurrent();
   if ( m_localGoal.current.empty() )
      m_localGoal.current = "none";
   m_localGoal.status = mInferenceEngine.getLocalGoalStatus();
   if ( m_localGoal.status.empty() )
      m_localGoal.status = "none";

   return  mInferenceEngine.getOutputMessage();
}

/*!Esta funcao envia localizacao da bola para o cognitivo*/
string Instintive::getBallLocalization()
{
   return getLocalizationString( WM->getGlobalPosition( OBJECT_BALL ) );
}

LocalGoal Instintive::getLocalGoal()
{
   return m_localGoal;
}

bool Instintive::updateFactsBase()
{
   bool              bNovaMsg = false;
   PlayerPositionT   playerLocalization = getLocalization( WM->getAgentGlobalPosition() );
   PlayerPositionT   ballLocalization = getLocalization( WM->getGlobalPosition(OBJECT_BALL) );
   PlayModeT         playMode = WM->getPlayMode();
   ObjectT           opponent = WM->getClosestInSetTo(OBJECT_SET_OPPONENTS,WM->getAgentObjectType());
   VecPosition       posOpon = WM->getGlobalPosition(opponent);
   VecPosition       posAgent = WM->getAgentGlobalPosition();

   bool agentNextLineR = false;  
   // proximo a linha de fundo
   if ( posAgent.getX() > 34 ) 
      agentNextLineR = true;
   bool agentNextLineOfDeep = false;
   // muito proximo a linha de fundo
   if ( posAgent.getX() > 42 )
      agentNextLineOfDeep = true;
   bool agentFrontFreeSpace = false; 
   // agente esta com espaco livre em volta dele.
   list<ObjectT> listCloseOpp = getListCloseOpponents(posAgent,4.0,1.5);
   if ( listCloseOpp.size() == 0 )
      agentFrontFreeSpace = true;
   // agente esta com dominio de bola
   bool boolKickable = WM->isBallKickable();
   // nosso time esta com a bola
   bool ballOurPossesion = WM->isBallInOurPossesion();
   //A bola está na posse do jogador mais proximo
   bool ballPossesionOpponent = closeOpponentHasBall();
   // jogadores de meio campo estao com a bola
   bool ballMidplayerPossesion = isBallInMidplayerPossesion(); 
   // jogadores de ataque estao com a bola
   bool ballAttackplayerPossesion = isBallInAttackplayersPossesion(); 
   // jogador eh o mais rapido a chega na bola
   bool fastestToBall = ( WM->getFastestInSetTo( OBJECT_SET_TEAMMATES, OBJECT_BALL) 
        == WM->getAgentObjectType() );
   // jogador marcado 
   bool closeToPlayer = ( posOpon.getDistanceTo(posAgent) < 8.0 );
   // bola numa posicao desconhecida
   bool ballPositonKnown = ( WM->getConfidence( OBJECT_BALL ) > PS->getBallConfThr());
   //Zona de atuação
   //bool ballAtuationZone = atuationZone( WM->getBallPos() );
   //Jogaodor cansado
   bool teammateSick = teammateIsSick();
   // boa condicao de passe de bola para os jogadores de 3 a 11
   /*bool confidenceToPass3 = confidenceToPass(OBJECT_TEAMMATE_3); 
   bool confidenceToPass4 = confidenceToPass(OBJECT_TEAMMATE_4); 
   bool confidenceToPass5 = confidenceToPass(OBJECT_TEAMMATE_5);*/
   bool confidenceToPass6 = confidenceToPass(OBJECT_TEAMMATE_6); 
   bool confidenceToPass7 = confidenceToPass(OBJECT_TEAMMATE_7); 
   bool confidenceToPass8 = confidenceToPass(OBJECT_TEAMMATE_8); 
   bool confidenceToPass9 = confidenceToPass(OBJECT_TEAMMATE_9); 
   bool confidenceToPass10 = confidenceToPass(OBJECT_TEAMMATE_10); 
   bool confidenceToPass11 = confidenceToPass(OBJECT_TEAMMATE_11);
   bool confidenceForKick = confidenceToKick( );
   string bestOptionKick = bestOptionForKick( );
   string deadBall = ModeUsOrThem();
   //string positionOpponent1 = getPositionYOpponent1();
   ObjectT choosePass9 = objectTeammateCloser( OBJECT_TEAMMATE_11, OBJECT_TEAMMATE_10 );
   ObjectT choosePass2 = objectTeammateCloser( OBJECT_TEAMMATE_7,OBJECT_TEAMMATE_10);
   ObjectT choosePass5 = objectTeammateCloser( OBJECT_TEAMMATE_8,OBJECT_TEAMMATE_11);
   ObjectT choosePass3 = objectTeammateCloser( OBJECT_TEAMMATE_6,OBJECT_TEAMMATE_7 );
   ObjectT choosePass4 = objectTeammateCloser( OBJECT_TEAMMATE_8,OBJECT_TEAMMATE_6 );
   ObjectT choosePass6 = objectTeammateCloser( OBJECT_TEAMMATE_8,OBJECT_TEAMMATE_7 );
   ObjectT choosePass7 = objectTeammateCloser( OBJECT_TEAMMATE_9,OBJECT_TEAMMATE_10 );
   ObjectT choosePass8 = objectTeammateCloser( OBJECT_TEAMMATE_9,OBJECT_TEAMMATE_11 );
   string opponentLocalization = getOpponentLocalization();
   //Localização da bola (esquerda, direita, norte, sul)
   bool ballLeftPosition;
   if( WM->getGlobalPosition( OBJECT_BALL ).getY() > 0 )
      ballLeftPosition = false;
   else
      ballLeftPosition = true;
   bool ballSouthPosition;
   if( WM->getGlobalPosition( OBJECT_BALL ).getX() > 0 )
      ballSouthPosition = false;
   else
      ballSouthPosition = true;
   //Localização do agente (esquerda, direita, norte, sul)
   bool playerLeftPosition;
   if( WM->getAgentGlobalPosition().getY() > 0 )
      playerLeftPosition = false;
   else
      playerLeftPosition = true;
   bool playerSouthPosition;
   if( WM->getAgentGlobalPosition().getX() > 0 )
      playerSouthPosition = false;
   else
      playerSouthPosition = true;
   //No caso de goleiros que não saem da pequena área, carregar mais a bola, antes de chutar.
   bool backGoalie;
   if( WM->getGlobalPosition( OBJECT_OPPONENT_1 ).getX() > 48 )
      backGoalie = true;
   else
      backGoalie = false;
   double distanceToGoalie = WM->getRelativeDistance( OBJECT_OPPONENT_1 );
   if(WM->getPlayerNumber() == 9 )
   {
      if ( choosePass9 != pastChoosePass9 )
      {
         if ( choosePass9 == OBJECT_TEAMMATE_11 )
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_11");
         else
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_10");
         pastChoosePass9 = choosePass9;
         bNovaMsg = true;
      }
   }
   else if(WM->getPlayerNumber() == 2 )
   {
      if ( choosePass2 != pastChoosePass2 )
      {
         if ( choosePass2 == OBJECT_TEAMMATE_10 )
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_10");
         else
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_7");
         pastChoosePass2 = choosePass2;
         bNovaMsg = true;
      }
   }
   else if(WM->getPlayerNumber() == 5 )
   {
      if ( choosePass5 != pastChoosePass5 )
      {
         if ( choosePass5 == OBJECT_TEAMMATE_8 )
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_8");
         else
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_11");
         pastChoosePass5 = choosePass5;
         bNovaMsg = true;
      }
   }
   else if(WM->getPlayerNumber() == 3 )
   {
      if ( choosePass3 != pastChoosePass3 )
      {
         if ( choosePass3 == OBJECT_TEAMMATE_6 )
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_6");
         else
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_7");
         pastChoosePass3 = choosePass3;
         bNovaMsg = true;
      }
   }
   else if(WM->getPlayerNumber() == 4 )
   {
      if ( choosePass4 != pastChoosePass4 )
      {
         if ( choosePass4 == OBJECT_TEAMMATE_8 )
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_8");
         else
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_6");
         pastChoosePass4 = choosePass4;
         bNovaMsg = true;
      }
   }
   else if(WM->getPlayerNumber() == 6 )
   {
      if ( choosePass6 != pastChoosePass6 )
      {
         if ( choosePass6 == OBJECT_TEAMMATE_8 )
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_8");
         else
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_7");
         pastChoosePass6 = choosePass6;
         bNovaMsg = true;
      }
   }
   else if(WM->getPlayerNumber() == 7 )
   {
      if ( choosePass7 != pastChoosePass7 )
      {
         if ( choosePass7 == OBJECT_TEAMMATE_9 )
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_9");
         else
            mFactsBase.addLogicPattern("player", "pass_ball", "teammate_10");
         pastChoosePass7 = choosePass7;
         bNovaMsg = true;
      }
   }
   else if(WM->getPlayerNumber() == 8 )
   {
      if ( choosePass8 != pastChoosePass8 )
      {