homeBall.setByPoints(positions[i], worldModel->getBall().getPos());				if (homeBall.getMagnitude() < nearestDistance)				nearestDistance = homeBall.getMagnitude();		}#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : nearestdist" << nearestDistance << endl;#endif		myHome = positions[worldModel->getBody().getUniNum() - 1];		homeBall.setByPoints(myHome, worldModel->getBall().getPos());#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : mydist" << homeBall.getMagnitude() << endl;#endif		if (homeBall.getMagnitude() < nearestDistance + EPS)			return 2;		else			return 1;	}#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : normal" << endl;#endif	actualPlayModeRemainCycles = worldModel->getPlayModeRemainCycle();   	actualPlayModeStayCycles = (unsigned)worldModel->getServerParam()["drop_ball_time"].asInt();	if (worldModel->getPlayMode() == PM_OFFSIDE_OPP ||		worldModel->getPlayMode() == PM_FREE_KICK_FAULT_OPP ||		worldModel->getPlayMode() == PM_CATCH_FAULT_OPP)	{		return 1;	}	#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : actualPlayModeRemainCycles" << actualPlayModeRemainCycles << endl;LOG << "selectKicker : actualPlayModeStayCycles" << actualPlayModeStayCycles << endl;#endif	if (actualPlayModeRemainCycles > actualPlayModeStayCycles - 6) 	{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : wait cycles (return 1)" << endl;#endif		return 1;	}	nearestDistance = 10000;	for (i = 0; i < FULL_PLAYERS_NUM; i++)	{		if (i + 1 == GOALIE_UNIFORM_NUM) continue; // Goalie		if (i + 1 == worldModel->getBody().getUniNum()) continue; // Body		homeBall.setByPoints(positions[i], worldModel->getBall().getPos());		if (homeBall.getMagnitude() < nearestDistance)			nearestDistance = homeBall.getMagnitude();	}#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : nearestdist(w/o body)" << nearestDistance << endl;#endif	myHome = positions[worldModel->getBody().getUniNum() - 1];	homeBall.setByPoints(myHome, worldModel->getBall().getPos());#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : mydist" << homeBall.getMagnitude() << endl;#endif	if (homeBall.getMagnitude() > nearestDistance + 20)	{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : normal very far(return 1)" << endl;#endif		return 1;	}	if (worldModel->getFreeKickAdvicerSayCycle() <= worldModel->getCurTime() -			(actualPlayModeStayCycles - actualPlayModeRemainCycles))	{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : late advice(return 1)" << endl;#endif		return 1;	}#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : listening to advice" << worldModel->getFreeKickAdvicerSayNumber() << endl;#endif	if (worldModel->getFreeKickAdvicerSayNumber() == worldModel->getBody().getUniNum())	{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : listening to advice i go" << endl;#endif		return 2;	}	else	{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKicker : listening to advice i don't go" << endl;#endif		return 1;	}	return 1;}void NonPlayOnDecision::selectBallKickerSay(Point positions[11], Form &form){	Point myHome;	Vector homeBall;		float nearestDistance;	unsigned nearestPlayer;	unsigned i;	unsigned actualPlayModeStayCycles,actualPlayModeRemainCycles;	actualPlayModeRemainCycles = worldModel->getPlayModeRemainCycle();   	actualPlayModeStayCycles = (unsigned)worldModel->getServerParam()["drop_ball_time"].asInt();	if (worldModel->getPlayMode() == PM_OFFSIDE_OPP ||		worldModel->getPlayMode() == PM_FREE_KICK_FAULT_OPP ||		worldModel->getPlayMode() == PM_CATCH_FAULT_OPP)	{		return;	}#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : actualPlayModeRemainCycles" << actualPlayModeRemainCycles << endl;LOG << "selectKickerSay : actualPlayModeStayCycles" << actualPlayModeStayCycles << endl;#endif	form.sayForm.freeKickSay = false;	if (actualPlayModeRemainCycles >= actualPlayModeStayCycles - 1)	{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : reset savedAdvicePlayer" << endl;#endif		savedAdvicePlayer = -1;	}	if (actualPlayModeRemainCycles < actualPlayModeStayCycles - 1 &&		worldModel->getBall().getSeeTime() > worldModel->getCurTime() -		(actualPlayModeStayCycles - actualPlayModeRemainCycles))	{		if (worldModel->getBody().getUniNum() == FREE_KICK_ADVICER)		{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : advice" << endl;LOG << "selectKickerSay : current advice=" << savedAdvicePlayer << endl;#endif			if (savedAdvicePlayer == -1)			{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : find advice" << endl;#endif				if (!worldModel->getBody().isGoalie() &&					worldModel->getPlayMode() == PM_FREE_KICK &&					worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)				{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : find advice" << endl;#endif					savedAdvicePlayer = 1;				}				else if (worldModel->getPlayMode() == PM_CORNER_KICK)				{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : corner kick" << endl;#endif					if (worldModel->getBall().getPos().getY() > 0)						savedAdvicePlayer = 10;					else						savedAdvicePlayer = 11;				}				else if (worldModel->getPlayMode() == PM_KICK_IN &&						worldModel->getBall().getPos().getX() >= 35)				{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : near corner kick" << endl;#endif					if (worldModel->getBall().getPos().getY() > 0)						savedAdvicePlayer = 10;					else						savedAdvicePlayer = 11;				}				else				{					nearestDistance = 100000;					nearestPlayer = worldModel->getBody().getUniNum();					for (i = 0; i < FULL_PLAYERS_NUM; i++)					{						if (i + 1 == GOALIE_UNIFORM_NUM) continue; // Goalie						homeBall.setByPoints(positions[i], worldModel->getBall().getPos());						if (homeBall.getMagnitude() < nearestDistance)						{							nearestPlayer = i + 1;							nearestDistance = homeBall.getMagnitude();						}					}					savedAdvicePlayer = nearestPlayer;				}			}			form.sayForm.freeKickSay = true;			form.sayForm.freeKickAdviceNumber = savedAdvicePlayer;			form.sayForm.attentionNum = savedAdvicePlayer;#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : finded advice=" << savedAdvicePlayer << endl;#endif		}		else		{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : listener" << endl;#endif			if (worldModel->getFreeKickAdvicerSayCycle() > worldModel->getCurTime() -				(actualPlayModeStayCycles - actualPlayModeRemainCycles))			{				form.sayForm.freeKickSay = true;				form.sayForm.freeKickAdviceNumber = worldModel->getFreeKickAdvicerSayNumber();				form.sayForm.attentionNum = worldModel->getFreeKickAdvicerSayNumber();#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : listener listened=" << form.sayForm.freeKickAdviceNumber << endl;#endif			}			else			{				form.sayForm.attentionNum = FREE_KICK_ADVICER;			}		}	}	else	{#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "selectKickerSay : 1 cycle after changePlayMode or late Ball" << endl;#endif	}	// Previous Method}int NonPlayOnDecision::backBallChoice(int cyclesToWait){	unsigned waitMinCycles;	int i;	waitMinCycles = 32;	unsigned actualPlayModeStayCycles,actualPlayModeRemainCycles;	actualPlayModeRemainCycles = worldModel->getPlayModeRemainCycle();   	actualPlayModeStayCycles = (unsigned)worldModel->getServerParam()["drop_ball_time"].asInt();	if (worldModel->getPlayMode() == PM_OFFSIDE_OPP ||		worldModel->getPlayMode() == PM_FREE_KICK_FAULT_OPP ||		worldModel->getPlayMode() == PM_CATCH_FAULT_OPP)	{		actualPlayModeRemainCycles += worldModel->getServerParam()["drop_ball_time"].asInt();		actualPlayModeStayCycles += 30;	}#ifdef NON_PLAY_ON_DECISION_LOG2LOG << "backBallChoice : actualPlayModeRemainCycles" << actualPlayModeRemainCycles << endl;LOG << "backBallChoice : actualPlayModeStayCycles" << actualPlayModeStayCycles << endl;#endif	if (worldModel->getPlayMode() == PM_FREE_KICK &&		worldModel->getVirtualPlayMode() == 		VPM_GOALIE_CATCH_BALL)		waitMinCycles = 100;	if (actualPlayModeRemainCycles < 3)		return 1;	if (actualPlayModeRemainCycles > actualPlayModeStayCycles - waitMinCycles)		return 2;	if (cyclesToWait > 0)		return 2;	if (worldModel->getBody().getStamina() <			worldModel->getBody().getStaminaMax() - 1)		return 2;	// Check Other Players Stamina	for (i = 0; i < 11; i++)		if (worldModel->getFullPlayer(TID_TEAMMATE, i).isValid() &&			worldModel->getFullPlayer(TID_TEAMMATE, i).getStamina() < 			worldModel->getFullPlayer(TID_TEAMMATE, i).getStaminaMax() - 1)		{			LOG << "backBallChoice : COPS player " << i + 1 << endl;			return 2; // FIXME : turned off because of ...		}		return 1;}void NonPlayOnDecision::getCurrentHomePoints(Point positions[11],		const Library &library){	int i;	if (worldModel->getPlayMode() == PM_BEFORE_KICK_OFF ||		worldModel->getPlayMode() == PM_KICK_OFF ||		worldModel->getPlayMode() == PM_KICK_OFF_OPP)	{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "getMovePoint" << endl;#endif		for (i = 1; i <= FULL_PLAYERS_NUM; i++)			positions[i - 1] = (dynamic_cast<NonPlayOnBeforeKickOff *>				(advancedActions[BEFOREKICKOFF_NUM]))->getMovePoint(i);	}	else if (worldModel->getPlayMode() == PM_FREE_KICK &&			worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL)	{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "GoalieCatchOffense" << endl;#endif		advancedActions[GOALIE_CATCH_OFFENSE_NUM]->getValue(library);		for (i = 1; i <= FULL_PLAYERS_NUM; i++)			positions[i - 1] = (dynamic_cast<GoalieCatchOffense *>				(advancedActions[GOALIE_CATCH_OFFENSE_NUM]))->getHomePoint(i);	}	else if (DefenseOffenseChoice() == 2)	{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "Offense.getHomePoint" << endl;#endif		advancedActions[OFFENSE_NUM]->getValue(library);		for (i = 1; i <= FULL_PLAYERS_NUM; i++)			positions[i - 1] = (dynamic_cast<Offense *>				(advancedActions[OFFENSE_NUM]))->getHomePoint(i, library);	}	else	{#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "Defense.getHomePoint" << endl;#endif		advancedActions[DEFENSE_NUM]->getValue(library);		for (i = 1; i <= FULL_PLAYERS_NUM; i++)			positions[i - 1] = (dynamic_cast<Defense *>				(advancedActions[DEFENSE_NUM]))->getHomePoint(i);	}#ifdef NON_PLAY_ON_DECISION_LOG1LOG << "All home points found." << endl;#endif#ifdef NON_PLAY_ON_DECISION_LOG2for (i = 1; i <= FULL_PLAYERS_NUM; i++)	LOG << "homepoint[" << i << "] = " << positions[i - 1] << endl;#endif}int NonPlayOnDecision::DefenseOffenseChoice(){	switch (worldModel->getPlayMode())	{	case PM_KICK_OFF:	case PM_FREE_KICK:	case PM_KICK_IN:	case PM_OFFSIDE_OPP:	case PM_GOAL_OPP:	case PM_GOAL_KICK:	case PM_CORNER_KICK:	case PM_FREE_KICK_FAULT_OPP:	case PM_CATCH_FAULT_OPP:	case PM_BACK_PASS_OPP:		return 2; // Offense		break;			case PM_KICK_OFF_OPP:	case PM_FREE_KICK_OPP:	case PM_KICK_IN_OPP:	case PM_OFFSIDE:	case PM_GOAL:	case PM_GOAL_KICK_OPP:	case PM_CORNER_KICK_OPP:	case PM_FREE_KICK_FAULT:	case PM_CATCH_FAULT:	case PM_BACK_PASS:		return 1; // Defense		break;	case PM_TIME_UP_WITHOUT_A_TEAM:	case PM_TIME_UP:		return 0; // NoWork 		break;	default:		return 1; // Defense		break;	}}