agent.cpp

2002年

#include "agent.h"
#include "setplay.h"
#include "client.h"
#include "worldmodel.h"
#include "skill.h"
#include "perceptron.h"

namespace Agent
{
	Behaviors motion;
	Goalie goalie;
	UNum MyNumber=-1;
	Positioning positioning;
	Mediator mediator;
	SetPlayInstance setplay;
	
	int behave(){
		/********* pre_process  *****************/	
		mediator.ResetBuffer();
		FieldInfo.SetArounds();
		situation.JudgeSituation();
		auditorysystem.ResetBuffer();
		
#ifdef _OffClient
		int desire_time = _Off_Client_Start_Cycle;	//capture the time
		if(situation.CurrentTime < desire_time){
			return 0;
		}
#endif
		/********* Debug Segement *****************/
		
		//process
		if (Self.Is_goalie){
			switch(situation.playmode){
			case PM_Play_On:		
				//....
			default:
				break;
			}
		}
		else{
			switch(situation.playmode){
			case PM_Before_Kick_Off:
				/* move to right positions and face ball */
				setplay.beforekickoff.going();
			case PM_Play_On:		
				switch(ClientParam::Number){
				case 1 :
				case 2 :
				case 3 :
				case 4 :
				case 5 :
				case 6 :
				case 7 :
				case 8 :
				case 9 :
				case 10:
				case 11:
					if (ball.kickable()){
						//handle ball
					}else{
						if(!Skill::interception.SmartInterception()){
							positioning.Position();
						}
					}
					break;
				default:
					break;
				}
				//....
			default:
				break;
			}
		}
		visualsystem.DoVisualDecision();
		mediator.mediation();
		
		auditorysystem.CommunicationV8();
		
		return 1;
}

void Initialize()
{
    
	InitializeObjs();
	GT_speed_utils::Initialize(); 
	sensory.Initialize();
	/**********       Initialize  BP Networks   **********************************/
	
	Skill::interception.ControlBallNet.RestoreNet(ClientParam::CB_weightfile);
	positioning.Mark_Net.RestoreNet(ClientParam::Mark_priority_weightfile);
	positioning.Block_Net.RestoreNet(ClientParam::Block_priority_weightfile);
	positioning.FM_Priority_Net.RestoreNet(ClientParam::DF_formation_priority_file);//ciwp
	positioning.Press_Net.RestoreNet(ClientParam::DF_press_priority_file);//ciwp
	
	Skill::kick.KickOA1_5.Initvpos(ClientParam::KickOA_weightfile_A);
	Skill::kick.KickOA2_0.Initvpos(ClientParam::KickOA_weightfile_B);
	Skill::kick.KickOA2_5.Initvpos(ClientParam::KickOA_weightfile_C);
	Skill::kick.KickOAlast.Initvpos(ClientParam::KickOA_weightfile_D);
	
}

}