void Agent::SaveActiveBehavior(const ActiveBehavior & beh)
{
BehaviorType type = beh.GetType();
Assert(type > BT_None && type < BT_Max);
if (mActiveBehavior[type] != 0) {
if (*mActiveBehavior[type] < beh) {
delete mActiveBehavior[type];
mActiveBehavior[type] = new ActiveBehavior(beh);
}
}
else {
mActiveBehavior[type] = new ActiveBehavior(beh);
}
}
void Player::Run()
{
//TIMETEST("Run");
static Time last_time = Time(-100, 0);
mpObserver->Lock();
/** 下面几个更新顺序不能变 */
//Formation::instance.SetTeammateFormations(); //Hereo
CommunicateSystem::instance().Update(); //在这里解析hear信息，必须首先更新
mpAgent->CheckCommands(mpObserver);
mpWorldModel->Update(mpObserver);
mpObserver->UnLock();
const Time & time = mpAgent->GetWorldState().CurrentTime();
if (last_time.T() >= 0) {
if (time != Time(last_time.T() + 1, 0) && time != Time(last_time.T(), last_time.S() + 1)) {
if (time == last_time) {
mpAgent->World().SetCurrentTime(Time(last_time.T(), last_time.S() + 1)); //否则决策数据更新会出问题
}
}
}
last_time = time;
//Look here - Player logic starts from here
PlayMode mpCurrentPlayMode = mpAgent->World().GetPlayMode();
PlayerState mpCurrentPlayerState = mpAgent->GetSelf();
PositionInfo mpCurrentPositionInfo = mpAgent->Info().GetPositionInfo();
Vector myPosition = mpAgent->GetSelf().GetPos();
double myDisToBall = mpCurrentPositionInfo.GetBallDistToPlayer(mpAgent->GetSelfUnum());
Vector ballpos = mpAgent->GetWorldState().GetBall().GetPos();
if(mpCurrentPlayMode==PM_Before_Kick_Off){
//TODO: Replace with an array + loop
//std::cout<<PlayerParam::instance().teamName()<<std::endl;
if(!isPositioned){
if(mpAgent->GetSelfUnum() == 1){
Vector player_pos = Vector(-45.0, 0.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 2){
Vector player_pos = Vector(-45.0, 10.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 3){
Vector player_pos = Vector(-45.0, -10.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 4){
Vector player_pos = Vector(-20.0, 0.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 5){
Vector player_pos = Vector(-20.0, -20.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 6){
Vector player_pos = Vector(-20.0, 20.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 7){
Vector player_pos = Vector(-15.0, -15.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 8){
Vector player_pos = Vector(-15.0, 15.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 9){
Vector player_pos = Vector(0.0, -20.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 10){
Vector player_pos = Vector(0.0, 1.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
if(mpAgent->GetSelfUnum() == 11){
Vector player_pos = Vector(0.0, 20.0);
mpAgent->Move(player_pos);
isPositioned = true;
}
std::cout << "Positioned" << std::endl;
}
}
else {
if(mpAgent->GetFollowBall()){
if(mpCurrentPlayerState.IsKickable()){
std::cout<<"player "<< mpAgent->GetSelfUnum()<<" - ball kickable"<<std::endl;
Vector nearestHole = RoundToNearestHole(myPosition);
if(PassPlayersAvailable()){
std::cout <<"--------------------------------------------------------"<<std::endl;
std::cout<<"player "<< mpAgent->GetSelfUnum()<<" - pass players available"<<std::endl;
if(PassToBestPlayer())
mpAgent->SetFollowBall(false);
}
else{
std::cout<<"player "<< mpAgent->GetSelfUnum()<<" - holding ball"<<std::endl;
ActiveBehavior beh = ActiveBehavior(*mpAgent, BT_Hold);
if (beh.GetType() != BT_None) {
mpAgent->SetActiveBehaviorInAct(beh.GetType());
if(beh.Execute());
//mpAgent->SetFollowBall(false);
//std::cout<<"Holding ball."<<std::endl;
}
}
}
else
Dasher::instance().GetBall(*mpAgent, -1, true, false);
//std::cout<<"Player "<<mpAgent->GetSelfUnum() <<" following ball"<<std::endl;
//std::cout<<mpAgent->RecvdMsg<<std::endl;
//mpIntransit = true;
//mpTarget = ballpos;
//mpAgent->SetFollowBall(false);
}
/*
if(mpAgent->GetFollowBall()){
mpIntransit = true;
mpTarget = ballpos;
}
*/
//TODO: Use transit variable for faster calling of the OccupyHole/Dasher functions
//TODO: Better dash function
//TODO: Look at buffer values
//TODO: Find why ball holding is competed by players
//TODO: Look at TODOs in the header file
//TODO: Create a 'holding'/'waiting' variable which is true when the player is sspposed to kick the ball
else if(mpIntransit){
if(!AreSamePoints(myPosition, mpTarget, 0.3))
Dasher::instance().GoToPoint(*mpAgent, mpTarget, 0.3, 100, true, false);
else{
mpIntransit = false;
//mpAgent->SetFollowBall(false);
}
}
else if(mpCurrentPlayerState.IsKickable()){
//mpAgent->SetFollowBall(false);
//mpAgent->SetFollowBall(false);
//&&!BallKickableByATeammate()
//if suitable holes have players available, pass
//else, hold on to ball
std::cout<<"player "<< mpAgent->GetSelfUnum()<<" - ball kickable"<<std::endl;
Vector nearestHole = RoundToNearestHole(myPosition);
if(PassPlayersAvailable()){
std::cout <<"--------------------------------------------------------"<<std::endl;
std::cout<<"player "<< mpAgent->GetSelfUnum()<<" - pass players available"<<std::endl;
if(PassToBestPlayer())
mpAgent->SetFollowBall(false);
}
else{
std::cout<<"player "<< mpAgent->GetSelfUnum()<<" - holding ball"<<std::endl;
ActiveBehavior beh = ActiveBehavior(*mpAgent, BT_Hold);
if (beh.GetType() != BT_None) {
mpAgent->SetActiveBehaviorInAct(beh.GetType());
if(beh.Execute());
//mpAgent->SetFollowBall(false);
//std::cout<<"Holding ball."<<std::endl;
}
}
}
else if(myDisToBall<=1){
//Dasher::instance().GoToPoint(*mpAgent, ballpos, 0.3, 100, true, false);
std::cout<<"player "<< mpAgent->GetSelfUnum()<<" - in transit towards ball"<<std::endl;
//mpIntransit = true;
//mpTarget = ballpos;
Dasher::instance().GetBall(*mpAgent, -1, true, false);
//mpAgent->SetFollowBall(true);
}
else {
//if(myDisToBall>1)
if(BallKickableByATeammate()){
std::cout<<"ball kickable by teammate - will decide and occupy hole - "<<mpAgent->GetSelfUnum()<<std::endl;
DecideAndOccupyHole();
}
//else if(mpAgent->GetSelfUnum()==10);
//Dasher::instance().GoToPoint(*mpAgent, ballpos, 0.3, 100, true, false);
//if ball is with a player
//if player has empty holes, dash to the hole
//else, do nothing
//else, do nothing
}
}
//Formation::instance.UpdateOpponentRole(); //TODO: 暂时放在这里，教练未发来对手阵型信息时自己先计算 //Hereo
VisualSystem::instance().ResetVisualRequest();
//mpDecisionTree->Decision(*mpAgent); // TODO:V: Replace or remove //Hereo
VisualSystem::instance().Decision();
CommunicateSystem::instance().Decision();
mpAgent->SetHistoryActiveBehaviors(); //Hereo
Logger::instance().LogSight();
}
