/* *  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 <cassert>#include <cmath>#include <Logger.h>#include <Types.h>#include <Command.h>#include <BasicTurn.h>#include <BasicKick.h>#include <BasicDash.h>#include <Pass.h>#include <Shoot.h>#include <NonPlayOn.h>#include <Offense.h>#include <Defense.h>#include <NonPlayOnDecision.h>#include <Intercept.h>#include <GoaliePositioning.h>#include <AdvancedAgent.h>using namespace std;#define NON_PLAY_ON_DECISION_LOG1#define NON_PLAY_ON_DECISION_LOG2#define FREE_KICK_ADVICER 5#define GOTOKICK_NUM 0#define BACKBALL_NUM 1#define BEFOREKICKOFF_NUM 2#define DEFENSE_NUM 3#define OFFENSE_NUM 4 #define PASS_NUM 5#define SHOOT_NUM 6#define INTERCEPT_NUM 7#define GOALIE_POSITIONING_NUM 8#define GOALIE_CATCH_OFFENSE_NUM 9// NOTE : All of player numbers in this file are Uniform Numbers (not Post Numbers)NonPlayOnDecision::NonPlayOnDecision(const WorldModel *worldModel):				BodyDecision(worldModel){	addAdvancedAction(new NonPlayOnGotoKick(worldModel), //0		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new NonPlayOnBackBall(worldModel), //1		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new NonPlayOnBeforeKickOff(worldModel), //2		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new Defense(worldModel), //3		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new Offense(worldModel), //4		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new Pass(worldModel), //5		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new Shoot(worldModel), //6		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new Intercept(worldModel), //7		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new GoaliePositioning(worldModel), //8		AdvancedActionWeights(0, 1, 1), 0);	addAdvancedAction(new GoalieCatchOffense(worldModel), //9		AdvancedActionWeights(0, 1, 1), 0);	dynamic_cast<Pass *>(advancedActions[PASS_NUM])->			setCurKickCalculate(&worldModel->getCurKickCalculate());}NonPlayOnDecision::~NonPlayOnDecision(){}void NonPlayOnDecision::decide(int quickLevel, Form &form,		const Library &library){	Point positions[11];#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NonPlayOnDecision" << endl;#endif	form.headForm.tnMode = TNM_LOOK_NORMALLY;	form.sayForm.reset();	if (DefenseOffenseChoice() == 0)	{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NonPlayOnDecision Returning empty" << endl;#endif		command = new EmptyCommand(AT_NONE);		return;	}	resetQuickLevels();	command = NULL;		getCurrentHomePoints(positions, library);	switch (worldModel->getPlayMode())	{	case PM_BEFORE_KICK_OFF:	case PM_GOAL:	case PM_GOAL_OPP:#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE1" << endl;#endif		if (selectBallKicker(positions) == 1)			dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->				setIsKicker(false);		else			dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->				setIsKicker(true);		advancedActions[BEFOREKICKOFF_NUM]->getValue(library);		advancedActions[BEFOREKICKOFF_NUM]->execute(form, library);		command = advancedActions[BEFOREKICKOFF_NUM]->getCommand();		return;			case PM_KICK_OFF:  #ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE2" << endl;#endif		if (selectBallKicker(positions) == 1)		{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE2 1" << endl;#endif			if (selectBallKicker(positions) == 1)				dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->					setIsKicker(false);			else				dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->					setIsKicker(true);			advancedActions[BEFOREKICKOFF_NUM]->getValue(library);			advancedActions[BEFOREKICKOFF_NUM]->execute(form, library);			command = advancedActions[BEFOREKICKOFF_NUM]->getCommand();			return;		}		else		{			form.headForm.tnMode = TNM_LOOK_CAREFULLY;#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE2 2" << endl;#endif			advancedActions[GOTOKICK_NUM]->getValue(library);			if (dynamic_cast<NonPlayOnGotoKick *>(advancedActions[GOTOKICK_NUM])					->getStatus() == 1)			{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE2 3" << endl;#endif				advancedActions[GOTOKICK_NUM]->execute(form, library);				command = advancedActions[GOTOKICK_NUM]->getCommand();				return;			}			else if (backBallChoice() == 1)			{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE2 4" << endl;#endif				// No need to the following line				if (advancedActions[GOTOKICK_NUM]->getCommand())					delete advancedActions[GOTOKICK_NUM]->getCommand();				quickLevels[PASS_NUM] = 1;				quickLevels[SHOOT_NUM] = 1;				form.sayForm.reset();				BodyDecision::decide(quickLevel, form, library);				return;			}			else			{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE2 5" << endl;#endif				// No need to the following line				if (advancedActions[GOTOKICK_NUM]->getCommand())					delete advancedActions[GOTOKICK_NUM]->getCommand();				advancedActions[BACKBALL_NUM]->getValue(library);				advancedActions[BACKBALL_NUM]->execute(form, library);				command = advancedActions[BACKBALL_NUM]->getCommand();				return;			}		}		break;	case PM_KICK_OFF_OPP:#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE3" << endl;#endif		if (selectBallKicker(positions) == 1)			dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->				setIsKicker(false);		else			dynamic_cast<NonPlayOnBeforeKickOff *>(advancedActions[BEFOREKICKOFF_NUM])->				setIsKicker(true);		advancedActions[BEFOREKICKOFF_NUM]->getValue(library);		advancedActions[BEFOREKICKOFF_NUM]->execute(form, library);		command = advancedActions[BEFOREKICKOFF_NUM]->getCommand();		return;		break;	case PM_FREE_KICK:	case PM_KICK_IN:	case PM_CORNER_KICK:#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4" << endl;#endif		selectBallKickerSay(positions, form);		if (selectBallKicker(positions) == 1)		{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 1" << endl;#endif			if (worldModel->getBody().isGoalie())			{				advancedActions[GOALIE_POSITIONING_NUM]->getValue(library);				advancedActions[GOALIE_POSITIONING_NUM]->execute(form, library);				command = advancedActions[GOALIE_POSITIONING_NUM]->getCommand();				return;			}			else			{					if (!worldModel->getBody().isGoalie() &&					worldModel->getPlayMode() == PM_FREE_KICK &&					worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)				{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 1 2" << endl;#endif					advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getValue(library);					advancedActions[GOALIE_CATCH_OFFENSE_NUM]->						execute(form, library);					command = advancedActions[GOALIE_CATCH_OFFENSE_NUM]->						getCommand();					return;				}				advancedActions[OFFENSE_NUM]->getValue(library);				advancedActions[OFFENSE_NUM]->execute(form, library);				command = advancedActions[OFFENSE_NUM]->getCommand();				return;			}		}		else		{			form.headForm.tnMode = TNM_LOOK_CAREFULLY;#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 2" << endl;#endif			if (worldModel->getBody().isGoalie() &&				worldModel->getPlayMode() == PM_FREE_KICK &&				worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)			{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 3 1" << endl;#endif				if (backBallChoice() == 1)				{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 3 1 1" << endl;#endif					advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getValue(library);					advancedActions[GOALIE_CATCH_OFFENSE_NUM]->execute(form, library);					if (dynamic_cast<GoalieCatchOffense *>							(advancedActions[GOALIE_CATCH_OFFENSE_NUM])->							getStatus() == 1)					{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 3.2" << endl;#endif						command = advancedActions[GOALIE_CATCH_OFFENSE_NUM]->							getCommand();						return;					}					else					{						if (worldModel->getPlayMode() == PM_FREE_KICK &&							worldModel->getVirtualPlayMode() == 							VPM_GOALIE_CATCH_BALL)						{							Point virtualPassPoint(-33, 28);														LOG << "NPP FKick to " << virtualPassPoint << endl;							command = FastKickToPoint(AT_PASS, virtualPassPoint,							worldModel->getBall(), worldModel->getBody()).								getCommand();							LOG << "NPO cmd:" << command->toString() << endl;							form.sayForm.interceptNum = 6;							form.sayForm.beforePassSay = true;							form.sayForm.freeKickSay = false;							return;						}						delete advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getCommand();						quickLevels[PASS_NUM] = 1;						form.sayForm.reset();						BodyDecision::decide(quickLevel, form, library);						return;					}				}				else				{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 3 1 2" << endl;#endif					advancedActions[BACKBALL_NUM]->getValue(library);					advancedActions[BACKBALL_NUM]->execute(form, library);					command = advancedActions[BACKBALL_NUM]->getCommand();					return;				}				break;			}			advancedActions[GOTOKICK_NUM]->getValue(library);			if (dynamic_cast<NonPlayOnGotoKick *>(advancedActions[GOTOKICK_NUM])					->getStatus() == 1)			{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 3" << endl;#endif				advancedActions[GOTOKICK_NUM]->execute(form, library);				command = advancedActions[GOTOKICK_NUM]->getCommand();				return;			}			else if (backBallChoice() == 1)			{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 4" << endl;#endif				// No need to the following line				if (advancedActions[GOTOKICK_NUM]->getCommand())					delete advancedActions[GOTOKICK_NUM]->getCommand();				quickLevels[PASS_NUM] = 1;				quickLevels[SHOOT_NUM] = 1;				if (worldModel->getPlayMode() == PM_FREE_KICK &&					worldModel->getVirtualPlayMode() == VPM_INDIRECT_FREE_KICK)				{					quickLevels[SHOOT_NUM] = -1;				}				form.sayForm.reset();				BodyDecision::decide(quickLevel, form, library);				return;			}			else			{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE4 5" << endl;#endif				// No need to the following line				if (advancedActions[GOTOKICK_NUM]->getCommand())					delete advancedActions[GOTOKICK_NUM]->getCommand();				advancedActions[BACKBALL_NUM]->getValue(library);				advancedActions[BACKBALL_NUM]->execute(form, library);				command = advancedActions[BACKBALL_NUM]->getCommand();				return;			}		}		break;	case PM_FREE_KICK_OPP:	case PM_KICK_IN_OPP:	case PM_CORNER_KICK_OPP:#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "NONPLAYON: MODE5" << endl;#endif		if (worldModel->getBody().isGoalie())		{			advancedActions[GOALIE_POSITIONING_NUM]->getValue(library);			advancedActions[GOALIE_POSITIONING_NUM]->execute(form, library);			command = advancedActions[GOALIE_POSITIONING_NUM]->getCommand();			return;		}		else		{				advancedActions[DEFENSE_NUM]->getValue(library);			advancedActions[DEFENSE_NUM]->execute(form, library);			command = advancedActions[DEFENSE_NUM]->getCommand();			return;		}