/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  This program is free software, you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *  GNU Library General Public License for more details. * *  This file is created by: Mohammad Salehe * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <iostream>#include <cassert>#include <Logger.h>#include <NonPlayOn.h>#include <BasicTurn.h>#include <BasicDash.h>#include <BasicKick.h>using namespace std;// NonPlayOnBackBallNonPlayOnBackBall::NonPlayOnBackBall(const WorldModel *worldModel): 		AdvancedAction(worldModel){}float NonPlayOnBackBall::getValue(const Library &library){	command = NULL;	return 100;}void NonPlayOnBackBall::execute(Form &form, const Library &library){	Point movePoint;	movePoint.x = -40;	movePoint.y = -10;	if (worldModel->getPlayMode() == PM_FREE_KICK &&		worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL &&		(worldModel->getBody().getPos() - movePoint).getMagnitude() > 3.1 &&		worldModel->getPlayModeRemainCycle() > 198) 	{		command = new MoveCommand(AT_MOVE, movePoint);		status = 0; 	}	else	{			command = TurnToPoint(AT_NON_PLAY_ON_BACK_BALL, Point(52.5, 0),			   			worldModel->getBody()).getCommand();		status = 0;	}}int NonPlayOnBackBall::getStatus(){	return status;}// NonPlayOnGotoKickNonPlayOnGotoKick::NonPlayOnGotoKick(const WorldModel *worldModel): 		AdvancedAction(worldModel){}float NonPlayOnGotoKick::getValue(const Library &library){	Vector playerGoal;	command = NULL;	playerGoal.setByPoints(worldModel->getBody().getPos(), Point(50, 0));	if (worldModel->getPlayMode() == PM_KICK_OFF || 		worldModel->getPlayMode() == PM_FREE_KICK ||		worldModel->getPlayMode() == PM_KICK_IN ||		worldModel->getPlayMode() == PM_OFFSIDE_OPP ||		worldModel->getPlayMode() == PM_GOAL_KICK ||		worldModel->getPlayMode() == PM_CORNER_KICK ||		worldModel->getPlayMode() == PM_FREE_KICK_FAULT_OPP ||		worldModel->getPlayMode() == PM_CATCH_FAULT_OPP ||		worldModel->getPlayMode() == PM_BACK_PASS_OPP ||		worldModel->getPlayMode() == PM_PENALTY_READY ||		worldModel->getPlayMode() == PM_PENALTY_READY_OPP ||		worldModel->getPlayMode() == PM_PENALTY_SETUP ||		worldModel->getPlayMode() == PM_PENALTY_SETUP_OPP)		{			LOG << "GOTOKICK OK" << endl;			FreeKickGotoPoint doGotoPoint(AT_NON_PLAY_ON_GOTO_KICK, worldModel->getBall().getPos(),				playerGoal.getDirection(), worldModel->getBall().getSize(),				worldModel->getBody());			if (doGotoPoint.getCommand()) delete doGotoPoint.getCommand();			status = doGotoPoint.getStatus();		}		else		{			LOG << "GOTOKICK WHAT?(CHECK IT)" << endl;			ForbiddenAreaGotoPoint doGotoPoint(AT_NON_PLAY_ON_GOTO_KICK, worldModel->getBall().getPos(),				playerGoal.getDirection(), worldModel->getBall().getSize(),				worldModel->getBody());			if (doGotoPoint.getCommand()) delete doGotoPoint.getCommand();			status = doGotoPoint.getStatus();		}	return 100;}int NonPlayOnGotoKick::getStatus(){	return status;}void NonPlayOnGotoKick::execute(Form &form, const Library &library){	Vector playerGoal;	command = NULL;	playerGoal.setByPoints(worldModel->getBody().getPos(), Point(50, 0));	if (worldModel->getPlayMode() == PM_KICK_OFF || 		worldModel->getPlayMode() == PM_FREE_KICK ||		worldModel->getPlayMode() == PM_KICK_IN ||		worldModel->getPlayMode() == PM_OFFSIDE_OPP ||		worldModel->getPlayMode() == PM_GOAL_KICK ||		worldModel->getPlayMode() == PM_CORNER_KICK ||		worldModel->getPlayMode() == PM_FREE_KICK_FAULT_OPP ||		worldModel->getPlayMode() == PM_CATCH_FAULT_OPP ||		worldModel->getPlayMode() == PM_BACK_PASS_OPP ||		worldModel->getPlayMode() == PM_PENALTY_READY ||		worldModel->getPlayMode() == PM_PENALTY_READY_OPP ||		worldModel->getPlayMode() == PM_PENALTY_SETUP ||		worldModel->getPlayMode() == PM_PENALTY_SETUP_OPP)		{			FreeKickGotoPoint doGotoPoint(AT_NON_PLAY_ON_GOTO_KICK, worldModel->getBall().getPos(),				playerGoal.getDirection(), worldModel->getBall().getSize(),				worldModel->getBody());			command = doGotoPoint.getCommand();			if (command == NULL)				command =new EmptyCommand(AT_NON_PLAY_ON_GOTO_KICK);			status = doGotoPoint.getStatus();		}		else		{			ForbiddenAreaGotoPoint doGotoPoint(AT_NON_PLAY_ON_GOTO_KICK, worldModel->getBall().getPos(),				playerGoal.getDirection(), worldModel->getBall().getSize(),				worldModel->getBody());			command = doGotoPoint.getCommand();			if (command == NULL)				command = new EmptyCommand(AT_NON_PLAY_ON_GOTO_KICK);			status = doGotoPoint.getStatus();		}}// NonPlayOnBeforeKickOffNonPlayOnBeforeKickOff::NonPlayOnBeforeKickOff(const WorldModel *worldModel): 		AdvancedAction(worldModel){}float NonPlayOnBeforeKickOff::getValue(const Library &library){	command = NULL;	return 100;}void NonPlayOnBeforeKickOff::execute(Form &form, const Library &library){	//TODO : check distance if you are near and don't move and turn	Point movePoint;	command = NULL;	movePoint = getMovePoint();	LOG << "NONPLAYON(BKO) movePoint : " << movePoint << endl;	if (worldModel->getPlayMode() == PM_BEFORE_KICK_OFF &&		(movePoint - Point(0, 0)).getMagnitude() < 9.15) //FIXME :: 9 = serverparam	{		Vector moveVector;		moveVector.setByPoints(Point(0, 0), movePoint);		moveVector.setAsPolar(9.15 + 0.1, moveVector.getDirection());		movePoint = Point(0, 0) + moveVector;	}	if ((movePoint - worldModel->getBody().getPos()).getMagnitude() < 0.2 || 			(worldModel->getPlayMode() != PM_BEFORE_KICK_OFF &&			worldModel->getPlayMode() != PM_GOAL &&			worldModel->getPlayMode() != PM_GOAL_OPP))	{		if (kickerFlag)			command	= TurnToPoint(AT_NON_PLAY_ON_BEFORE_KICK_OFF, Point(-52.5, 0), worldModel->getBody()).getCommand();		else			command	= TurnToPoint(AT_NON_PLAY_ON_BEFORE_KICK_OFF, Point(0, 0), worldModel->getBody()).getCommand();	}	else	{		command = new MoveCommand(AT_MOVE, getMovePoint());	}}Point NonPlayOnBeforeKickOff::getMovePoint(unsigned uniNum){	switch (Player::uniNumToPostNum(uniNum))	{	case 1:		return Point(-47, 0);	case 2:		return Point(-13, -16);	case 3:		return Point(-16, -5);	case 4:		return Point(-16, 5);	case 5:		return Point(-13, 16);	case 6:		return Point(-4, 7.5);	case 7:		return Point(-4, -7.5);	case 8:		return Point(-12, 0);	case 9:		return Point(-0.5, 0);	case 10:		return Point(-.8, -15);	case 11:		return Point(-.8, 15);	}	assert(0);	return Point(0, 0);}Point NonPlayOnBeforeKickOff::getMovePoint(){	return getMovePoint(worldModel->getBody().getUniNum());	}void NonPlayOnBeforeKickOff::setIsKicker(bool kickerFlagArg){	kickerFlag = kickerFlagArg;}// GoalieCatchOffenseGoalieCatchOffense::GoalieCatchOffense(const WorldModel *worldModel): 		AdvancedAction(worldModel){}float GoalieCatchOffense::getValue(const Library &library){	command = NULL;	return 100;}void GoalieCatchOffense::execute(Form &form, const Library &library){	Point homePoint;	Point movePoint;	command = NULL;	homePoint = getHomePoint();	LOG << "GoalieCatchOffense(BKO) homePoint : " << homePoint << endl;	DashNormalGotoPoint doGotoPoint(AT_GOALIE_CATCH_OFFENSE, homePoint, 1.6, worldModel->getBody());	if (worldModel->getBody().isGoalie())	{		movePoint.x = -40;		movePoint.y = 18;		if ((worldModel->getBody().getPos() - movePoint).getMagnitude() > 1.8) 		{			LOG << "GoalieCatchOffense goalie stat=1" << endl;			command = new MoveCommand(AT_GOALIE_CATCH_OFFENSE, movePoint);			status = 1; 		}		else		{				LOG << "GoalieCatchOffense goalie stat=0" << endl;			command = new EmptyCommand(AT_GOALIE_CATCH_OFFENSE);			status = 0;		}		return;	}	if (doGotoPoint.getMode() == CT_EMPTY)	{		if (doGotoPoint.getCommand())			delete doGotoPoint.getCommand();		LOG << "GoalieCatchOffense player stat=turntoball" << endl;		command = TurnToPoint(AT_GOALIE_CATCH_OFFENSE, worldModel->getBall().getPos(), worldModel->getBody() ,5).			getCommand();	}	else	{		command = doGotoPoint.getCommand();	}}Point GoalieCatchOffense::getHomePoint(unsigned uniNum){	if (worldModel->getPlayMode() == PM_GOAL_KICK)	{		switch (Player::uniNumToPostNum(uniNum))		{		case 1:			return Point(-47, 0);		case 2:			return Point(-30, -20);		case 3:			if (worldModel->getBall().getPos().getY() > 0)				return Point(-33, -2);			else				return Point(-39, -11);		case 4:			if (worldModel->getBall().getPos().getY() > 0)				return Point(-39, 11);			else				return Point(-33, 2);		case 5:			return Point(-30, 20);		case 6:			return Point(-18, 15);		case 7:			return Point(-10, -15);		case 8:			if (worldModel->getBall().getPos().getY() > 0)				return Point(-33, 11);			else				return Point(-33, -11);		case 9:			return Point(-1, 0);		case 10:			return Point(-1, -20);		case 11:			return Point(-1, 20);		}	}	else	{		switch (Player::uniNumToPostNum(uniNum))		{		case 1:			return Point(-47, 0);		case 2:			return Point(-33, -22);		case 3:			return Point(-33, 0);		case 4:			return Point(-33, 8);		case 5:			return Point(-33, 28);		case 6:			return Point(-18, 28);		case 7:			return Point(-18, -18);		case 8:			return Point(-30, 7);		case 9:			return Point(-2, 7);		case 10:			return Point(-2, -15);		case 11:			return Point(-2, 28);		}	}	assert(0);	return Point(0, 0);}Point GoalieCatchOffense::getHomePoint(){	return getHomePoint(worldModel->getBody().getUniNum());	}int GoalieCatchOffense::getStatus(){	return status;}// HoldBallHoldBall::HoldBall(const WorldModel *worldModel): 		AdvancedAction(worldModel){}float HoldBall::getValue(const Library &library){	if (worldModel->getPlayModeRemainCycle() > 120)	{ // wait		LOG << "HoldBall::getValue (wait/value = 67)" << endl;		command = NULL;		return 67;	}	else	{ // ready to pass		LOG << "HoldBall::getValue (pass/value = 35)" << endl;		command = NULL;		return 35;	}}void HoldBall::execute(Form &form, const Library &library){	LOG << "HoldBall::execute" << endl;	command = KickToPointArriveVelocity(AT_HOLD_BALL, worldModel->getBall().getPos(), 0,			worldModel->getBall(), worldModel->getBody()).getCommand();}