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();
}
void BehaviorPassPlanner::Plan(std::list<ActiveBehavior> & behavior_list)
{
std::cout<<"Inside pass plan"<<std::endl;
if (!mSelfState.IsKickable()) return;
const std::vector<Unum> & tm2ball = mPositionInfo.GetCloseTeammateToTeammate(mSelfState.GetUnum());
Unum _opp = mStrategy.GetFastestOpp();
if (!_opp) return;
PlayerState oppState = mWorldState.GetOpponent( _opp );
bool oppClose = oppState.IsKickable()|| oppState.GetTackleProb(true) > 0.65 ;
for (uint i = 0; i < tm2ball.size(); ++i) {
ActiveBehavior pass(mAgent, BT_Pass);
pass.mTarget = mWorldState.GetTeammate(tm2ball[i]).GetPredictedPos();
if(mWorldState.GetTeammate(tm2ball[i]).IsGoalie()){
continue;
}
Vector rel_target = pass.mTarget - mBallState.GetPos();
const std::vector<Unum> & opp2tm = mPositionInfo.GetCloseOpponentToTeammate(tm2ball[i]);
AngleDeg min_differ = HUGE_VALUE;
for (uint j = 0; j < opp2tm.size(); ++j) {
Vector rel_pos = mWorldState.GetOpponent(opp2tm[j]).GetPos() - mBallState.GetPos();
if (rel_pos.Mod() > rel_target.Mod() + 3.0) continue;
AngleDeg differ = GetAngleDegDiffer(rel_target.Dir(), rel_pos.Dir());
if (differ < min_differ) {
min_differ = differ;
}
}
if (min_differ < 10.0) continue;
pass.mEvaluation = Evaluation::instance().EvaluatePosition(pass.mTarget, true);
pass.mAngle = (pass.mTarget - mSelfState.GetPos()).Dir();
pass.mKickSpeed = ServerParam::instance().GetBallSpeed(5, pass.mTarget.Dist(mBallState.GetPos()));
pass.mKickSpeed = MinMax(2.0, pass.mKickSpeed, Kicker::instance().GetMaxSpeed(mAgent , pass.mAngle ,3 ));
if(oppClose){//in oppnent control, clear it
pass.mDetailType = BDT_Pass_Clear;
}
else pass.mDetailType = BDT_Pass_Direct;
mActiveBehaviorList.push_back(pass);
}
if (!mActiveBehaviorList.empty()) {
mActiveBehaviorList.sort(std::greater<ActiveBehavior>());
if(mActiveBehaviorList.front().mDetailType == BDT_Pass_Clear){
mActiveBehaviorList.front().mEvaluation = 1.0 + FLOAT_EPS;
}
behavior_list.push_back(mActiveBehaviorList.front());
}
else { //如果此周期没有好的动作
if (mAgent.IsLastActiveBehaviorInActOf(BT_Pass)) {
ActiveBehavior pass(mAgent, BT_Pass, BDT_Pass_Direct);
pass.mTarget = mAgent.GetLastActiveBehaviorInAct()->mTarget; //行为保持
pass.mEvaluation = Evaluation::instance().EvaluatePosition(pass.mTarget, true);
pass.mKickSpeed = ServerParam::instance().GetBallSpeed(5 + random() % 6, pass.mTarget.Dist(mBallState.GetPos()));
pass.mKickSpeed = MinMax(2.0, pass.mKickSpeed, ServerParam::instance().ballSpeedMax());
behavior_list.push_back(pass);
}
if(oppClose){
Vector p;
BallState SimBall = mBallState;
int MinTmInter = HUGE_VALUE, MinOppInter = HUGE_VALUE, MinTm;
Vector MinTmPos;
for(AngleDeg dir = -45 ; dir <= 45 ; dir += 2.5){
if(!Tackler::instance().CanTackleToDir(mAgent,dir)){
SimBall.UpdateVel(Polar2Vector(Kicker::instance().GetMaxSpeed(mAgent,mSelfState.GetBodyDir() + dir,1),mSelfState.GetBodyDir() + dir),0,1.0);
}
else
SimBall.UpdateVel(Polar2Vector(Max(Tackler::instance().GetBallVelAfterTackle(mAgent,dir).Mod(), Kicker::instance().GetMaxSpeed(mAgent,mSelfState.GetBodyDir() + dir,1)),mSelfState.GetBodyDir() + dir),0,1.0);
for(int i = 2 ; i <= 11 ; i ++){
if(fabs((mWorldState.GetTeammate(i).GetPos() - mSelfState.GetPos()).Dir() - dir) > 45 ){
continue;
}
if(!mWorldState.GetPlayer(i).IsAlive()){continue;}
PlayerInterceptInfo* a = mInterceptInfo.GetPlayerInterceptInfo(i);
mInterceptInfo.CalcTightInterception(SimBall,a,true);
if(MinTmInter > (*a).mMinCycle){
MinTm= i;
MinTmInter = (*a).mMinCycle;
MinTmPos = (*a).mInterPos;
}
}
for(int i = 1 ; i <= 11 ; i++){
if(fabs((mWorldState.GetOpponent(i).GetPos() - mSelfState.GetPos()).Dir() - dir) > 45 ){
continue;
}
PlayerInterceptInfo* a = mInterceptInfo.GetPlayerInterceptInfo(-i);
mInterceptInfo.CalcTightInterception(SimBall,a,true);
if(MinOppInter > (*a).mMinCycle){
MinOppInter = (*a).mMinCycle;
}
}
if(MinOppInter > MinTmInter){
Ray a(mSelfState.GetPos() , mSelfState.GetBodyDir() + dir);
Line c(ServerParam::instance().ourLeftGoalPost(),ServerParam::instance().ourRightGoalPost());
c.Intersection(a,p);
if( p.Y() < ServerParam::instance().ourPenaltyArea().Top()
|| p.Y() > ServerParam::instance().ourPenaltyArea().Bottom()){
ActiveBehavior pass(mAgent , BT_Pass , BDT_Pass_Clear);
pass.mTarget = MinTmPos;
pass.mEvaluation = 1.0 + FLOAT_EPS;
pass.mAngle = mSelfState.GetBodyDir() + dir;
mActiveBehaviorList.push_back(pass);
}
}
}
if (!mActiveBehaviorList.empty()) {
mActiveBehaviorList.sort(std::greater<ActiveBehavior>());
behavior_list.push_back(mActiveBehaviorList.front());
}
}
}
}