behave.c

足球机器人仿真组CMU97的源码

  static int BEHAVIOR = 0;
  float cdist=0, sdist, pdist, gpow, dpow, spow, pbuf, x, y; 
  int Marker;
  int formation, position;

#if MOVE_LEARN
  if (Mem->MoveRecorded){
    RecordDashResult(Mem);
    Mem->MoveRecorded = FALSE;
  }
#endif

  switch (behavior){
  case FORGET: 
    Mem->Reset();
    break;
  case RANDOM_INTERCEPT:
    /*if ( Mem->view_width != NARROW_WIDTH )
      NARROW_HIGH_VIEW;*/
    /*    gpow = 6, cdist = 20;*/
    gpow = 50, cdist = 14;  /* Wait longer to go, but then go faster */
    if (BEHAVIOR != RANDOM_INTERCEPT) BEHAVIOR = RANDOM_INTERCEPT;
    BehaviorName = strdup("Random Intercept");
    COLLECTBALL( &ChooseRandom, cdist, gpow );
    break;
  case INTERCEPT:
    /*if ( Mem->view_width != NARROW_WIDTH )
      NARROW_HIGH_VIEW;*/
    NARROW_HIGH_VIEW;
    gpow = 50, cdist = 30;  /* Wait longer to go, but then go faster */
    if (BEHAVIOR != INTERCEPT) BEHAVIOR = INTERCEPT;
    BehaviorName = strdup("Intercept");
    /* TRAINCOLLECT( &ChooseNN, cdist, gpow ); */
    ANALYTICCOLLECTBALL( cdist, gpow ); 
    break;
  case SHOOT:
    if ( Mem->view_width != WIDE_WIDTH )  
      WIDE_HIGH_VIEW;
    /* usleep(1000 * SEND_STEP);  /* Wait a bit so defender sees ball */
    spow = 3; 
    if (BEHAVIOR != SHOOT) BEHAVIOR = SHOOT;
    BehaviorName = strdup("Shoot");
    /* STAYANDSHOOT( spow ); */
    SHOOTONGOAL( 100 );
    break;
  case CHASE_AND_SHOOT: 
    gpow = 6, spow = 4; 
    if (BEHAVIOR != CHASE_AND_SHOOT) BEHAVIOR = CHASE_AND_SHOOT;
    BehaviorName = strdup("ChaseAndShoot");
    CHASEANDSHOOT( gpow, spow );
    break;
  case DRIBBLE_AND_SHOOT: 
    gpow = 6, dpow = 6, spow = 4, sdist = 40; 
    if (BEHAVIOR != DRIBBLE_AND_SHOOT) BEHAVIOR = DRIBBLE_AND_SHOOT;
    BehaviorName = strdup("DribbleAndShoot");
    DRIBBLEANDSHOOT( sdist, gpow, dpow, spow );
    break;
  case DEFEND: 
    cdist = 20, gpow = 10, spow = 4;  
    if (BEHAVIOR != DEFEND) BEHAVIOR = DEFEND;
    BehaviorName = strdup("Defend");
    Defend( cdist, gpow, spow);
    break;
  case KAMRAM: 
    cdist = 20, gpow = 10, spow = 4;  
    if (BEHAVIOR != KAMRAM) BEHAVIOR = KAMRAM;
    BehaviorName = strdup("Kamram");
    Kamram( cdist, gpow, spow);
    break;
  case RANDOM_PASS: 
    if ( Mem->view_width != NORMAL_WIDTH )  
      NORMAL_HIGH_VIEW;
    cdist = 0, pdist = 35, gpow = 0, dpow = 10, spow = 3;  
    if (BEHAVIOR != RANDOM_PASS) BEHAVIOR = RANDOM_PASS;
    BehaviorName = strdup("RandomPass");
    TreePass( &ChooseReceiverRandom, cdist, pdist, gpow, dpow, spow);
    break;
  case LEARNED_PASS: 
    if ( Mem->view_width != NORMAL_WIDTH )  
      NORMAL_HIGH_VIEW;
    cdist = 0, pdist = 35, gpow = 0, dpow = 10, spow = 3;  
    if (BEHAVIOR != LEARNED_PASS) BEHAVIOR = LEARNED_PASS;
    BehaviorName = strdup("TreePass");
    TreePass( &ChooseReceiverTree, cdist, pdist, gpow, dpow, spow);
    break;
  case COLLECT_PASS:
    if ( Mem->view_width != NARROW_WIDTH )
      NARROW_HIGH_VIEW;
    /*    gpow = 6, cdist = 20;*/
    gpow = 10, cdist = 14;  /* Wait longer to go, but then go faster */
    spow = 100;
    if ( Mem->GetGlobalAngle() < 0 ) gpow = 0;   /* Don't run back after ball */
    if (BEHAVIOR != COLLECT_PASS) BEHAVIOR = COLLECT_PASS;
    BehaviorName = strdup("CollectPass");
    TreeTestReceiveAndAttack( &ChooseNN, cdist, gpow, spow);
    break;
  case INTERCEPT_PASS:
    if ( Mem->view_width != NARROW_WIDTH )
      NARROW_HIGH_VIEW;
    cdist = 14, gpow = 10, spow = 100;
    if ( Mem->GetGlobalAngle() > 0 ) gpow = 0;   /* Don't run back after ball */
    if (BEHAVIOR != INTERCEPT_PASS) BEHAVIOR = INTERCEPT_PASS;
    BehaviorName = strdup("InterceptPass");
    Marker = int_random(2) ? THEIR_GOAL : MY_GOAL;
    COLLECTANDKNOCK( Marker ,&ChooseNN, cdist, gpow, spow );
    break;
  case GOALIE:
    gpow = 50, pbuf = 2, spow = 5;
    formation = f433_FORMATION;
    position = f433_GOALIE;
    BehaviorName = strdup("Goalie");
    cdist = 14;
    break;
  case CENTER_SWEEPER:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_SWEEPER;
    BehaviorName = strdup("Sweeper");
    break;
  case RIGHT_DEFENSE:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_RIGHT_DEFENSE;
    BehaviorName = strdup("RightDefense");
    break;
  case CENTER_DEFENSE:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_CENTER_DEFENSE;
    BehaviorName = strdup("CenterDefense");
    break;
  case LEFT_DEFENSE:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_LEFT_DEFENSE;
    BehaviorName = strdup("LeftDefense");
    break;
  case RIGHT_MIDFIELD:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_RIGHT_MIDFIELD;
    BehaviorName = strdup("RightMidfield");
    break;
  case CENTER_MIDFIELD:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_CENTER_MIDFIELD;
    BehaviorName = strdup("CenterMidfield");
    break;
  case LEFT_MIDFIELD:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_LEFT_MIDFIELD;
    BehaviorName = strdup("LeftMidfield");
    break;
  case RIGHT_WING:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_RIGHT_WING;
    BehaviorName = strdup("RightWing");
    break;
  case CENTER_FORWARD:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_CENTER_FORWARD;
    BehaviorName = strdup("CenterForward");
    break;
  case LEFT_WING:
    gpow = 50, pbuf = 3, spow = 5;
    formation = f433_FORMATION;
    position = f433_LEFT_WING;
    BehaviorName = strdup("LeftWing");
    break;
  case START_SET_PLAY:
    x = -45, y = 0;
    pbuf = 10, cdist = 30, pdist = 25;
    gpow = 6, dpow = 6, spow = 3;
    if ( FIRST_TIME ){
      NORMAL_HIGH_VIEW;
      PREGAMEMOVE(x,y);
      FIRST_TIME = FALSE;
    }
    if (BEHAVIOR != START_SET_PLAY){
      Mem->SetCurrentHome(x,y);
      BEHAVIOR = START_SET_PLAY;
    }
    BehaviorName = strdup("StartSetPlay");
    StartSetPlay( &ChooseReceiverTree, cdist, pdist, gpow, 
		  dpow, spow);
    break;
  case RIGHT_MID_SET_PLAY:
    x = 0, y = -25, pbuf = 10;
    cdist = 14, gpow = 10, spow = 6;
    Marker = RF_FLAG;
    if ( FIRST_TIME ){
      NORMAL_HIGH_VIEW;
      PREGAMEMOVE(x,y);
      FIRST_TIME = FALSE;
    }
    if (BEHAVIOR != RIGHT_MID_SET_PLAY){
      Mem->SetCurrentHome(x,y);
      BEHAVIOR = RIGHT_MID_SET_PLAY;
    }
    BehaviorName = strdup("RightMidSetPlay");
    TreeReceiveAndKnock(&ChooseNN,cdist,gpow,Marker,spow);
    break;
  case LEFT_MID_SET_PLAY:
    x = 0, y = 25, pbuf = 10;
    cdist = 14, gpow = 10, spow = 6;
    Marker = LF_FLAG;
    if ( FIRST_TIME ){
      NORMAL_HIGH_VIEW;
      PREGAMEMOVE(x,y);
      FIRST_TIME = FALSE;
    }
    if (BEHAVIOR != LEFT_MID_SET_PLAY){
      Mem->SetCurrentHome(x,y);
      BEHAVIOR = LEFT_MID_SET_PLAY;
    }
    BehaviorName = strdup("LeftMidSetPlay");
    TreeReceiveAndKnock(&ChooseNN,cdist,gpow,Marker,spow);
    break;
  case RIGHT_WINGER_SET_PLAY:
    x = 40, y = -30;
    pbuf = 10, cdist = 15, pdist = 35;
    gpow = 10, dpow = 6, spow = 3;
    if ( FIRST_TIME ){
      NORMAL_HIGH_VIEW;
      PREGAMEMOVE(x,y);
      FIRST_TIME = FALSE;
    }
    if (BEHAVIOR != RIGHT_WINGER_SET_PLAY){
      Mem->SetCurrentHome(x,y);
      BEHAVIOR = RIGHT_WINGER_SET_PLAY;
    }
    BehaviorName = strdup("RightWingerSetPlay");
    StartSetPlay( &ChooseReceiverTree, cdist, pdist, gpow, 
		  dpow, spow);
    break;
  case LEFT_WINGER_SET_PLAY:
    x = 40, y = 30;
    pbuf = 10, cdist = 15, pdist = 35;
    gpow = 10, dpow = 6, spow = 3;
    if ( FIRST_TIME ){
      NORMAL_HIGH_VIEW;
      PREGAMEMOVE(x,y);
      FIRST_TIME = FALSE;
    }
    if (BEHAVIOR != LEFT_WINGER_SET_PLAY){
      Mem->SetCurrentHome(x,y);
      BEHAVIOR = LEFT_WINGER_SET_PLAY;
    }
    BehaviorName = strdup("LeftWingerSetPlay");
    StartSetPlay( &ChooseReceiverTree, cdist, pdist, gpow, 
		  dpow, spow);
    break;
  case FINISH_SET_PLAY:
    x = 35, y = 0, pbuf = 10;
    cdist = 14, gpow = 10, spow = 6;
    Marker = THEIR_GOAL;
    if ( FIRST_TIME ){
      NORMAL_HIGH_VIEW;
      PREGAMEMOVE(x,y);
      FIRST_TIME = FALSE;
    }
    if (BEHAVIOR != FINISH_SET_PLAY){
      Mem->SetCurrentHome(x,y);
      BEHAVIOR = FINISH_SET_PLAY;
    }
    BehaviorName = strdup("FinishSetPlay");
    TreeReceiveAndKnock(&ChooseNN,cdist,gpow,Marker,spow);
    break;
  case JUSTIN_KICK:
    break; /* Action triggered by message from coach */
  case JUSTIN_COLLECT:
    break; /* Action triggered by message from coach */
  }

#if USE_RL
  #define ACTFUNC &UseRL
#else
/*#define ACTFUNC &RandomOccupied*/
/*#define ACTFUNC &WorkTheWings*/
/*#define ACTFUNC &HighestDTOutput */
#define ACTFUNC &ConsiderDTOutput
#endif

  switch(behavior){
  case GOALIE:
  case CENTER_SWEEPER:
  case RIGHT_DEFENSE:
  case CENTER_DEFENSE:
  case LEFT_DEFENSE:
  case RIGHT_MIDFIELD:
  case CENTER_MIDFIELD:
  case LEFT_MIDFIELD:
  case RIGHT_WING:
  case CENTER_FORWARD:
  case LEFT_WING:
    if ( FIRST_TIME ){
      NORMAL_HIGH_VIEW;
      /* formation = f352_FORMATION;         */
      formation = f442_FORMATION;         
      /* formation = f72_FORMATION;          */
      /* formation = f334_FORMATION;         */
      /* formation = f244_FORMATION;         */
#if PRACTICE
      formation = f433_FORMATION;
#endif
      Mem->SetFormation(formation,Mem->CurrentTime);
      Mem->ChangePositions = FALSE; 
      Mem->HomeChangeMethod = HOME_SHIFT; 
      Mem->UseSetPlays = FALSE; 
      Mem->UseUnitCoaching = FALSE;  /* makes marking happen */
      Mem->EchoSounds = FALSE;
      FIRST_TIME = FALSE;
    }
    if (BEHAVIOR != behavior){
      Mem->SetMyPosition(position);
      BEHAVIOR = behavior;
    }

    /* ReactToScoreAndTime(); */
    /* SwitchRightLeft();     */
    /* SinglePlayerSwitch();  */

    if ( Mem->PlayMode == BEFORE_KICK_OFF ){
      if( Mem->InKickoffPosition() ){
	Mem->CheckForPlayersInMyPosition();
      }
      else{  /* Not in kickoff position */

	Mem->Reset();  /* Erases memory, active status, currenthome, etc. */
	
	position = Mem->GetMyPosition();

	float goalX,goalY;
	if ( Mem->SetPlay && Mem->MyPositionInSetPlay() )
	  Mem->GetMySetPlayXY(&goalX,&goalY);
	else if ( Mem->BallValid() ){
	  Mem->UpdateHome();
	  goalX = Mem->GetCurrentHomeX();
	  goalY = Mem->GetCurrentHomeY();
	}
	else{
	  Mem->GetMyPositionXY(&goalX,&goalY);
	}
	
	PREGAMEMOVE(goalX,goalY);
	
	WAITFORSIGHT; /* Wait until in the actual position */
	if ( Mem->InKickoffPosition() )
	  ANNOUNCEMYPOSITION;
      }
    }

    if ( Mem->UseSetPlays && Mem->PlayMode != PLAY_ON ){
      if ( !Mem->SetPlay )
	Mem->InitializeSetPlay();
      else if ( Mem->MyPositionInSetPlay() )  /* There's a set play on */
	Mem->SetMyselfInSetPlay();
      else                                    /* I'm not in it         */
	Mem->SetMyselfInactive();
    }
    else 
      Mem->SetPlay = FALSE;  /* Should already be in SetPlay ActiveStatus (if in play) */

#if 0
    int ChangeTime = 18000*6;
    int NumFormations = 6;
    if ( Mem->CurrentTime>10 && (Mem->CurrentTime)%ChangeTime < 7){
      int newFormationType = ((Mem->CurrentTime/ChangeTime)%NumFormations)+1;
      Mem->SetFormation(newFormationType,Mem->CurrentTime);
    }
    /* Mem->HomeChangeMethod = HOME_OBEY; */
#endif

#if 1
    /* Asssuming we always want high quality view if we're not in a tight loop */
    /* Corrects for possible missed high_quality command                       */
    if (Mem->BallValid()){
      float bdist = Mem->GetBallDistance();
      if ( bdist > 50 )
	WIDE_HIGH_VIEW;
      else if (bdist > 25)
	NORMAL_HIGH_VIEW;
      else
	NARROW_HIGH_VIEW;
    }
#endif

    /* if ( strcmp(Mem->GetMyStatus(),BLANK_STAT) )
      printf("%d:%d status== %s\n",Mem->MyNumber,Mem->CurrentTime,Mem->GetMyStatus());*/

#if PRACTICE 
    Mem->ChangePositions = FALSE;
    Mem->HomeChangeMethod = HOME_OBEY;
    Mem->SetPlay = FALSE;
#endif

#if 0
      Mem->HomeChangeMethod = HOME_OBEY; 
      Mem->SetPlay = FALSE;
#endif

    ChangePositionsAndAct( ACTFUNC, gpow, spow );

    if ( Mem->UseUnitCoaching && !Mem->NewSight ){
      /* Do captainly stuff if there's time left over */
      for (int i=0; i<Mem->GetCurrentFormation()->GetNumUnits(); i++){
	if ( Mem->AmUnitCaptain(i) )
	  DirectUnit(i);
      }
    }

    if ( Mem->EchoSounds && !Mem->NewSight ){
      if ( !int_random(1000) )
	ECHOTHEIRSOUND;
    }

    if ( Mem->QActionTaken )
      Mem->LookForRewards();

    break;
  }
}