agent.cpp

robocup 3d, a 3d base team similar to UvA 2d

/*
*********************************************************************************
*                            In the name of Almighty                            *
*                                                                               *
*            Agent.cpp : Robocup 3D Soccer Simulation Team Zigorat              *
*                     (This team was previously named Gcyrus)                   *
*                                                                               *
*  Date: 03/20/2007                                                             *
*  Author: Mahdi Hamdarsi                                                       *
*  Comments: This files contains class definition Agent which is the main       *
*            thinkin' module                                                    *
*                                                                               *
*********************************************************************************
*/

/*! \file Agent.cpp
<pre>
<b>File:</b>          Agent.cpp
<b>Project:</b>       Robocup Soccer Simulation Team: Zigorat
<b>Authors:</b>       Mahdi Hamdarsi
<b>Created:</b>       03/20/2007
<b>Last Revision:</b> $ID$
<b>Contents:</b>      This files contains class definition Agent which is the main
               thinkin' module
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
03/20/2007       Mahdi           Initial version created
</pre>
*/


#include "Agent.h"


/******************************************************************************/
/*********************************  AGENT CLASS  ******************************/
/******************************************************************************/


/*! This is the constructor the Agent and calls the constructor of the
   superclass BasicAgent.
   \param conn Connection to server to send/recieve messages with
   \param wm WorldModel as the momery of the agent
   \param act ActHanfler for synchronizing commands */
Agent::Agent( TRoboCupConnection * conn, WorldModel * wm, ActHandler *act )
    : BasicAgent(conn, wm, act)
{}

/*! This is the destructor of agent and currently does nothing. */
Agent::~Agent()
{}

/*! This is the main loop of the agent. This method calls the update methods
    of the world model after it is indicated that new information has arrived.
    After this, the main thinkin' loop of the agent is called, which sends 
    the best command according to his/her! simple mind :) to the server. */
void Agent::mainLoop()
{
  char strServerMsg[2048], *strMsg;
  while( connection->getMessage( strServerMsg, 2047 ) )
  {
    if( WM->getCurrentCycle() == 0 )
      sendPlayerInformation();
    else if( WM->getCurrentCycle() == 1 )
      InitializePlayerPosition();

    strMsg = strServerMsg;
    WM->updateFromServerMsg(&strMsg);
    makeDecision();
    ACT->sendCommands();
  }
}

/*! This method is the first complete simple agent and defines the actions
    taken by the agent. It is based on highlevel actions which are goin' to
    be coded. */
void Agent::deMeer5()
{
  static bool start = true;
  static int  iStep = 1;
  static Time time = WM->getSimulatorTime();

  if( WM->getSimulatorTime() - time < 2 )
    return;

  if( iStep == 1 )
  {
    if( turnTo( 90, start ) )
    {
      iStep++;
      start = true;
    }
    else
      return; 
  }
  
  walk( start );
}