cognitive.cpp.svn-base

一个巴西大学编写的2D仿真组足球机器人程序

/*
 *  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 "Cognitive.h"

Cognitive::Cognitive()
{
   cout << "inicializacao do Cognitivo" << endl;

   mInferenceEngine.loadFacts(&mFactsBase);
   mInferenceEngine.loadRules(&mRulesBase);
   mFactsBase.addLogicPattern("local_goal", "current", "none");
   mFactsBase.addLogicPattern("local_goal", "status", "active");
   mFactsBase.addLogicPattern("global_goal", "current", "none");
   mFactsBase.addLogicPattern("global_goal", "status", "active");
   mFactsBase.addLogicPattern("ball","localization","AREA_ILLEGAL");
   mFactsBase.addLogicPattern("teammate","has_ball","false");
   mFactsBase.addLogicPattern("dead_ball","situation","none");

   /*cout << " Cognitive Base " << endl;
   mFactsBase.print();*/

   WM = WorldModel::getInstance();
}

void Cognitive::loadRulesBase()
{
   string fileName;
   // convertendo inteiro em string com strigstream
   stringstream ss;
   string playerNumber;
   ss << WM->getPlayerNumber();
   ss >> playerNumber;
   fileName = RulesBase::RulesPath + "cognitive" + playerNumber + ".rules";
   cout <<"cognitive rules file: "<< fileName << endl;
   mRulesBase.loadRulesFile( (char*)fileName.c_str() );
   //Impressao da base de regras
   //mRulesBase.print();
}

string Cognitive::makeInference(LocalGoal lc, string ballLocalization)
{
   // gera mensagem para escolha do comportamento

   /*if( updateFactsBase(lc,ballLocalization) )
   {
      if ( WM->getPlayerNumber() == 9 )
         mFactsBase.print();
   }*/
   updateFactsBase(lc,ballLocalization);
   mInferenceEngine.inference();

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

   return  mInferenceEngine.getOutputMessage();
}

LocalGoal Cognitive::getLocalGoal()
{
   return mLocalGoal;
}

bool Cognitive::updateFactsBase(LocalGoal lc, string ballLocalization)
{
   bool bNovaMsg = false;
   bool ballOurPossesion = WM->isBallInOurPossesion();
   string deadBall = ModeUsOrThem();
   if ( (lc.current != "none") and (lc.status != "none") )
   {
      mFactsBase.addLogicPattern("local_goal", "current", lc.current );
      mFactsBase.addLogicPattern("local_goal", "status", lc.status );
      bNovaMsg = true;
   }
   if( pastBallLocalization != ballLocalization )
   {
      if( ballLocalization == "AREA_ATTACK" )
         mFactsBase.addLogicPattern("ball","localization","AREA_ATTACK");
      else if( ballLocalization == "AREA_DEFENSE" )
         mFactsBase.addLogicPattern("ball","localization","AREA_DEFENSE");
      else if( ballLocalization == "AREA_SIDE" )
         mFactsBase.addLogicPattern("ball","localization","AREA_SIDE");
      else if( ballLocalization == "AREA_SIDE_ATTACK" )
         mFactsBase.addLogicPattern("ball","localization","AREA_SIDE_ATTACK");
      else if( ballLocalization == "AREA_SIDE_DEFENSE" )
         mFactsBase.addLogicPattern("ball","localization","AREA_SIDE_DEFENSE");
      else if( ballLocalization == "AREA_CENTRAL" )
         mFactsBase.addLogicPattern("ball","localization","AREA_CENTRAL");
      else if( ballLocalization == "AREA_CENTRAL_ATTACK" )
         mFactsBase.addLogicPattern("ball","localization","AREA_CENTRAL_ATTACK");
      else if( ballLocalization == "AREA_CENTRAL_DEFENSE" )
         mFactsBase.addLogicPattern("ball","localization","AREA_CENTRAL_DEFENSE");
      else
         mFactsBase.addLogicPattern("ball","localization","AREA_ILLEGAL");
      pastBallLocalization = ballLocalization;
      bNovaMsg = true;
   }
   if( pastBallOurPossesion != ballOurPossesion )
   {
      if(ballOurPossesion)
         mFactsBase.addLogicPattern("teammate","has_ball","true");
      else
         mFactsBase.addLogicPattern("teammate","has_ball","false");
      pastBallOurPossesion = ballOurPossesion;
      bNovaMsg = true;
   }
   if( pastDeadBall != deadBall )
   {
      if(deadBall == "us")
         mFactsBase.addLogicPattern("dead_ball","situation","us");
      else if (deadBall == "them")
         mFactsBase.addLogicPattern("dead_ball","situation","them");
      else
         mFactsBase.addLogicPattern("dead_ball","situation","none");
      pastDeadBall = deadBall;
      bNovaMsg = true;
   }
   return bNovaMsg;
}

/*! Este método verifica nas situações de bola parada de quem é a bola
\return De quem é a bola nossa, ou dos adversários*/
string Cognitive::ModeUsOrThem( )
{
   PlayModeT pm = WM->getPlayMode();
   if(  WM->isDeadBallUs(pm) )
      return "us";
   if( WM->isDeadBallThem(pm) )
      return "them";
   return "none";
}