/*   Copyright (c) 2000-2002, Jelle Kok, University of Amsterdam   All rights reserved.   Redistribution and use in source and binary forms, with or without    modification, are permitted provided that the following conditions are met:   1. Redistributions of source code must retain the above copyright notice, this    list of conditions and the following disclaimer.    2. Redistributions in binary form must reproduce the above copyright notice,    this list of conditions and the following disclaimer in the documentation    and/or other materials provided with the distribution.    3. Neither the name of the University of Amsterdam nor the names of its    contributors may be used to endorse or promote products derived from this    software without specific prior written permission.    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"    AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE    IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE    DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE    FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL    DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR    SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER    CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,    OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE    OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.   *//*! \file Player.C  <pre>  <b>File:</b>          Player.C  <b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn  <b>Authors:</b>       Jelle Kok  <b>Created:</b>       03/03/2001  <b>Last Revision:</b> $ID$  <b>Contents:</b>      This file contains the definitions for the Player class,  which is a superclass from BasicPlayer and contains the  decision procedure to select the skills from the  BasicPlayer.   <hr size=2>  <h2><b>Changes</b></h2>  <b>Date</b>             <b>Author</b>          <b>Comment</b>  03/03/2001       Jelle Kok       Initial version created  </pre>  */#include "Player.h"#include "Parse.h"#include <sys/poll.h>		// needed for 'poll'static bool isPlayOn = true;/*!This is the constructor the Player class and calls the constructor of the  superclass BasicPlayer.  \param act ActHandler to which the actions can be sent  \param wm WorldModel which information is used to determine action  \param ss ServerSettings that contain parameters used by the server  \param ps PlayerSettings that contain parameters important for the client  \param strTeamName team name of this player  \param dVersion version this basicplayer corresponds to  \param iReconnect integer that defines player number (-1 when new player) */Player::Player(ActHandler * act, WorldModel * wm, ServerSettings * ss,		PlayerSettings * ps,		Formations * fs, char *strTeamName, double dVersion,		int iReconnect){	char str[MAX_MSG];	ACT = act;	WM = wm;	SS = ss;	PS = ps;	formations = fs;	bContLoop = true;	WM->setTeamName(strTeamName);	m_timeLastSay = -5;	m_iPenaltyNr = 0;	// wait longer as role number increases, to make sure players appear at the	// field in the correct order	poll(0, 0, formations->getPlayerInFormation() * 100);	// create initialisation string	if (iReconnect != -1)		sprintf(str, "(reconnect %s %d)", strTeamName, iReconnect);	else if (formations->getPlayerType() == PT_GOALKEEPER)		sprintf(str, "(init %s (version %f) (goalie))", strTeamName,				dVersion);	else		sprintf(str, "(init %s (version %f))", strTeamName, dVersion);	ACT->sendMessage(str);}/*! 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 correct main loop of the player type is called, which  puts the best soccer command in the queue of the ActHandler. */	voidPlayer::mainLoop(){	while (bContLoop)		// as long as server alive	{		Log.logWithTime(3, "  start update_all");		Log.setHeader(WM->getCurrentCycle(), WM->getPlayerNumber());		if (WM->updateAll() == true) {			if ((WM->isPenaltyUs() || WM->isPenaltyThem()))				performPenalty();			else if (WM->getPlayMode() == PM_FROZEN)				ACT->putCommandInQueue(turnBodyToObject(OBJECT_BALL));			else {				//formationDecision ();    //確定比賽陣型。				if (shallISaySomething() == true)	// shall I communicate				{					m_timeLastSay = WM->getCurrentTime();					ACT->sendCommandDirect(sayBallStatus());				}				switch (formations->getPlayerType())	// determine right loop				{					case PT_GOALKEEPER:						goalieMainLoop();						break;					case PT_DEFENDER_SWEEPER:					case PT_DEFENDER_WING:						defenderMainLoop();						break;					case PT_MIDFIELDER_CENTER:					case PT_MIDFIELDER_WING:						midfielderMainLoop();						break;					case PT_ATTACKER:					case PT_ATTACKER_WING:						attackerMainLoop();						break;					case PT_ILLEGAL:					default:						break;				}			}			Log.logWithTime(3,					"  determined action; waiting for new info");			// directly after see message, will nog get better info, so send commands			if (WM->getTimeLastSeeMessage() == WM->getCurrentTime())				ACT->sendCommands();		} else			Log.logWithTime(3,					"  HOLE no action determined; waiting for new info");		// wait for new information from the server		// cannot say bContLoop=WM->wait... since bContLoop can be changed elsewhere		if (WM->waitForNewInformation() == false)			bContLoop = false;	}	// shutdow, print hole and number of players seen statistics	Log.logWithTime(777, "Shutting down player %d\n",			WM->getPlayerNumber());	Log.logWithTime(777, "   Number of holes: %d (%f)\n", WM->iNrHoles,			((double) WM->iNrHoles / WM->getCurrentCycle()) * 100);	Log.logWithTime(777, "   Teammates seen: %d (%f)\n",			WM->iNrTeammatesSeen,			((double) WM->iNrTeammatesSeen /			 WM->getCurrentCycle()));	Log.logWithTime(777, "   Opponents seen: %d (%f)\n",			WM->iNrOpponentsSeen,			((double) WM->iNrOpponentsSeen /			 WM->getCurrentCycle()));}/*! This is the main decision loop for the goalkeeper. */void Player::goalieMainLoop(){	//deMeer5_goalie();	goalieStrategy();}/*! This is the main decision loop for a defender.  *              后衛決策 * *      此時已經確定好陣型和自己的角色， *      現在需要根據場上的狀態決定自己下一步的行動。 */void Player::defenderMainLoop(){	//deMeer5() ;	SoccerCommand soc(CMD_ILLEGAL);	SoccerCommand socVisual(CMD_ILLEGAL);	VecPosition posAgent = WM->getAgentGlobalPosition();	VecPosition posStrat = WM->getStrategicPosition();	VecPosition posBall = WM->getBallPos();	//行為決策部分。	if (WM->isKickOffThem());	// do nothing	else if (WM->isBeforeKickOff()) {		if (formations->getFormation() != FT_INITIAL)			formations->setFormation(FT_INITIAL);	// go to kick_off formation       		if (WM->isKickOffThem()				&& posStrat.getDistanceTo(VecPosition(0, 0)) < 9.0)			posStrat.setX(-10.0);		if (posAgent.getDistanceTo(posStrat) > 2.0)			soc = teleportToPos(posStrat);		else			// else turn to center		{			soc = turnBodyToPoint(VecPosition(0, 0), 0);			//ACT->putCommandInQueue( alignNeckWithBody( ) );		}	} else if (WM->isCornerKickUs() || WM->isFreeKickUs()) {		isPlayOn = false;		soc = midfielderStrategy();	} else {		isPlayOn = true;		soc = defenderStrategy();	}	ACT->putCommandInQueue(soc);	//視覺決策部分。	socVisual = visualDecision(soc);	ACT->putCommandInQueue(socVisual);	//}	}/*! This is the main decision loop for a midfielder.  *                中場決策 * *      此時已經確定好陣型和自己的角色， *      現在需要根據場上的狀態決定自己下一步的行動。 */void Player::midfielderMainLoop(){	//deMeer5() ;	//首先要確定球的位置。	if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr()) {		ACT->putCommandInQueue(searchBall());	// if ball pos unknown		ACT->putCommandInQueue(alignNeckWithBody());	// search for it		return;	}	else {		SoccerCommand soc(CMD_ILLEGAL);		SoccerCommand socVisual(CMD_ILLEGAL);		VecPosition posAgent = WM->getAgentGlobalPosition();		VecPosition posStrat = WM->getStrategicPosition();		VecPosition posBall = WM->getBallPos();		//行為決策部分。		if (WM->isKickOffThem());	// do nothing		else if (WM->isBeforeKickOff()) {			if (formations->getFormation() != FT_INITIAL)				formations->setFormation(FT_INITIAL);	// go to kick_off formation       			if (WM->isKickOffThem()					&& posStrat.getDistanceTo(VecPosition(0, 0)) < 9.0)				posStrat.setX(-10.0);			if (posAgent.getDistanceTo(posStrat) > 2.0)				soc = teleportToPos(posStrat);			else		// else turn to center			{				soc = turnBodyToPoint(VecPosition(0, 0), 0);				//ACT->putCommandInQueue( alignNeckWithBody( ) );			}		} else if (WM->isCornerKickUs() || WM->isFreeKickUs()) {			isPlayOn = false;			soc = midfielderStrategy();		} else {			isPlayOn = true;			soc = midfielderStrategy();		}		ACT->putCommandInQueue(soc);		//視覺決策部分。		socVisual = visualDecision(soc);		ACT->putCommandInQueue(socVisual);	}}/*! This is the main decision loop for an agent.  *                  前鋒決策 * *      此時已經確定好陣型和自己的角色， *      現在需要根據場上的狀態決定自己下一步的行動。 */void Player::attackerMainLoop(){	//deMeer5() ;	//首先要確定球的位置。	if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr()) {		ACT->putCommandInQueue(searchBall());	// if ball pos unknown		ACT->putCommandInQueue(alignNeckWithBody());	// search for it		return;	}	else {		SoccerCommand soc(CMD_ILLEGAL);		SoccerCommand socVisual(CMD_ILLEGAL);		VecPosition posAgent = WM->getAgentGlobalPosition();		VecPosition posStrat = WM->getStrategicPosition();		VecPosition posBall = WM->getBallPos();		//行為決策部分。		if (WM->isKickOffThem());	// do nothing		else if (WM->isBeforeKickOff()) {			if (formations->getFormation() != FT_INITIAL)				formations->setFormation(FT_INITIAL);	// go to kick_off formation       			if (WM->isKickOffThem()					&& posStrat.getDistanceTo(VecPosition(0, 0)) < 9.0)				posStrat.setX(-10.0);			if (posAgent.getDistanceTo(posStrat) > 2.0)				soc = teleportToPos(posStrat);			else		// else turn to center			{				soc = turnBodyToPoint(VecPosition(0, 0), 0);				//ACT->putCommandInQueue( alignNeckWithBody( ) );			}		} else if (WM->isCornerKickUs() || WM->isFreeKickUs()) {			isPlayOn = false;			soc = attackerStrategy();		} else {			isPlayOn = true;			soc = attackerStrategy();		}		ACT->putCommandInQueue(soc);		//視覺決策部分。		socVisual = visualDecision(soc);		ACT->putCommandInQueue(socVisual);	}}/*!This method is the first complete simple team and defines the actions taken  by all the players on the field (excluding the goalie). It is based on the  high-level actions taken by the simple team FC Portugal that it released in  2000. The players do the following:  - if ball is kickable  kick ball to goal (random corner of goal)  - else if i am fastest player to ball and no opponent can intercept ball  intercept the ball  - else  move to strategic position based on your home position and pos ball */void Player::deMeer5(){	SoccerCommand soc(CMD_ILLEGAL);	VecPosition posAgent = WM->getAgentGlobalPosition();	VecPosition posBall = WM->getBallPos();	int iTmp;	if (WM->isKickOffThem());	// do nothing	else if (WM->isBeforeKickOff()) {		if (formations->getFormation() != FT_INITIAL)			formations->setFormation(FT_INITIAL);	// go to kick_off formation		VecPosition posStrat = WM->getStrategicPosition();		if (WM->isKickOffThem()				&& posStrat.getDistanceTo(VecPosition(0, 0)) < 9.0)			posStrat.setX(-10.0);		if (posAgent.getDistanceTo(posStrat) > 2.0)			ACT->putCommandInQueue(teleportToPos(posStrat));		else			// else turn to center		{			ACT->putCommandInQueue(turnBodyToPoint(VecPosition(0, 0), 0));			ACT->putCommandInQueue(alignNeckWithBody());		}	} else {		formations->setFormation(FT_433_OFFENSIVE);		soc.commandType = CMD_ILLEGAL;		if (WM->getConfidence(OBJECT_BALL) < PS->getBallConfThr()) {			ACT->putCommandInQueue(searchBall());	// if ball pos unknown			ACT->putCommandInQueue(alignNeckWithBody());	// search for it		} else if (WM->isBallKickable())	// if kickable		{			VecPosition posGoal(PITCH_LENGTH / 2.0,					(-1 +					 2 * (WM->getCurrentCycle() % 2)) * 0.4 *					SS->getGoalWidth());			soc = kickTo(posGoal, SS->getBallSpeedMax());	// kick maximal			ACT->putCommandInQueue(soc);			ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));			Log.log(100, "kick ball");		} else if (WM->				getFastestInSetTo(OBJECT_SET_TEAMMATES, OBJECT_BALL,					&iTmp) == WM->getAgentObjectType()				&& !WM->isDeadBallThem()) {	// if fastest to ball			Log.log(100,					"I am fastest to ball; can get there in %d cycles",					iTmp);			soc = intercept(false);	// intercept the ball			if (soc.commandType == CMD_DASH &&	// if stamina low					WM->getAgentStamina().getStamina() <					SS->getRecoverDecThr() * SS->getStaminaMax() + 200) {				soc.dPower = 30.0 * WM->getAgentStamina().getRecovery();	// dash slow				ACT->putCommandInQueue(soc);				ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));			} else		// if stamina high			{				ACT->putCommandInQueue(soc);	// dash as intended				ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));			}		} else if (posAgent.getDistanceTo(WM->getStrategicPosition()) >				1.5 + fabs(posAgent.getX() - posBall.getX()) / 10.0)			// if not near strategic pos		{			if (WM->getAgentStamina().getStamina() >	// if stamina high					SS->getRecoverDecThr() * SS->getStaminaMax() + 200) {				soc =					moveToPos(WM->getStrategicPosition(),							PS->getPlayerWhenToTurnAngle());				ACT->putCommandInQueue(soc);	// move to strategic pos				ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));			} else		// else watch ball			{				ACT->putCommandInQueue(soc =						turnBodyToObject(OBJECT_BALL));				ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));			}		} else if (fabs(WM->getRelativeAngle(OBJECT_BALL)) > 1.0)	// watch ball		{			ACT->putCommandInQueue(soc = turnBodyToObject(OBJECT_BALL));			ACT->putCommandInQueue(turnNeckToObject(OBJECT_BALL, soc));		} else			// nothing to do			ACT->putCommandInQueue(SoccerCommand(CMD_TURNNECK, 0.0));	}}/*!This method is a simple goalie based on the goalie of the simple Team of  FC Portugal. It defines a rectangle in its penalty area and moves to the  position on this rectangle where the ball intersects if you make a line  between the ball position and the center of the goal. If the ball can  be intercepted in the own penalty area the ball is intercepted and catched.  */void Player::deMeer5_goalie(){	int i;	SoccerCommand soc;	VecPosition posAgent = WM->getAgentGlobalPosition();	AngDeg angBody = WM->getAgentGlobalBodyAngle();	// define the top and bottom position of a rectangle in which keeper moves	static const VecPosition posLeftTop(-PITCH_LENGTH / 2.0 +			0.7 * PENALTY_AREA_LENGTH,			-PENALTY_AREA_WIDTH / 4.0);	static const VecPosition posRightTop(-PITCH_LENGTH / 2.0 +			0.7 * PENALTY_AREA_LENGTH,			+PENALTY_AREA_WIDTH / 4.0);	// define the borders of this rectangle using the two points.	static Line lineFront =		Line::makeLineFromTwoPoints(posLeftTop, posRightTop);	static Line lineLeft =		Line::makeLineFromTwoPoints(VecPosition(-50.0, posLeftTop.getY()),				posLeftTop);	static Line lineRight =		Line::makeLineFromTwoPoints(VecPosition(-50.0, posRightTop.getY()),				posRightTop);