/* *  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: Ahmad Boorghany *  and is modified by: Meisam Vosoughpour, Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <cmath>#include <Degree.h>#include <Logger.h>#include <Defines.h>#include <GroupWorks.h>#include <SyncedAgent.h>#include <AdvancedAgent.h>#include <Basics.h>#include <cassert>using namespace std;using namespace Basics;ostream &operator<<(ostream &stream, const WithoutBallSelection &var){	switch (var)	{	case WOBS_LOOKFORBALL:		stream << "WOBS_LOOKFORBALL";		break;	case WOBS_BLOCK:		stream << "WOBS_BLOCK";		break;	case WOBS_INTERCEPT:		stream << "WOBS_INTERCEPT";		break;	case WOBS_POSITIONING:		stream << "WOBS_POSITIONING";		break;	case WOBS_OFFENSE:		stream << "WOBS_OFFENSE";		break;	case WOBS_DEFENSE:		stream << "WOBS_DEFENSE";		break;	default:		assert(0);	}	return stream;}// class GroupWorksGroupWorks::GroupWorks(const WorldModel *worldModel): worldModel(worldModel){	interceptNum = 0;	interceptBlock = false;	lastPassHearTime = 0;	lastSRPDribbleTime = 0;//	virtualKickCalc.init();//	virtualPass.setCurKickCalculate(&virtualKickCalc);}void GroupWorks::updateInterceptNum(Library &library){	if (library.lastBodyCycleCommand &&		library.lastBodyCycleCommand->getCreator() == AT_SRPDRIBBLE)		lastSRPDribbleTime = worldModel->getCurTime() - 1;	if (worldModel->getBallStatus() == BS_KICKABLE_BODY ||		worldModel->getBallStatus() == BS_KICKABLE_BODY_TMM ||		worldModel->getBallStatus() == BS_KICKABLE_BODY_OPP)	{		LOG << "I have the ball now !" << endl;		interceptBlock = false;		interceptSay = true;		interceptNum = worldModel->getBody().getUniNum();		LOG << "final interceptNum (Bl, Sy, Pn):"			<< " " << interceptBlock			<< " " << interceptSay			<< " " << interceptNum << endl;		return;	}	if (!getChangeInterceptNumPermission())	{		LOG << "Changing interceptNum is not permitted." << endl;		LOG << "final interceptNum (Bl, Sy, Pn):"			<< " " << interceptBlock			<< " " << interceptSay			<< " " << interceptNum << endl;		return;	}	bool halfPlayerFlag;	float maxBlockWeight = 0;	float curBlockWeight = 0;	unsigned blocker;	unsigned checkedTmmNum;	unsigned checkedOppNum;	unsigned defenserPlayer;	Point ballStopPoint;	const Player *checkPlayer;	LOG << "GroupWorks::updateInterceptNum" << endl;	checkedTmmNum = worldModel->getCurInterCalculate().getTmmCheckedPlayersNum();	checkedOppNum = worldModel->getCurInterCalculate().getOppCheckedPlayersNum();	if (checkedTmmNum > 0 || checkedOppNum > 0)		ballStopPoint = worldModel->getCurInterCalculate().getFastestInterPlayer().getInterPoint();	// cleaning interceptNum	// intercept conditions	// condition 1	if (interceptNum && !interceptBlock)	{		if (interceptNum == worldModel->getBody().getUniNum())		{			if (worldModel->getCurInterCalculate().getCheckedListNum(				worldModel->getBody()) == NOVALUE)			{				interceptNum = 0;				LOG << "interceptNum reset 1.1" << endl;			}		}		else if (worldModel->getFullPlayer(TID_TEAMMATE, interceptNum - 1).getPosDeviation() <= 3 &&				 worldModel->getCurInterCalculate().getCheckedListNum(				 		worldModel->getFullPlayer(TID_TEAMMATE, interceptNum - 1)) == NOVALUE)		{			interceptNum = 0;			LOG << "interceptNum reset 1.2" << endl;		}	}	// block and intercept conditions	// condition 2	if (worldModel->getBall().getPosDeviation() > 5)	{		interceptNum = 0;		LOG << "interceptNum reset 2" << endl;	}	// block conditions	// condition 3	if (interceptNum && interceptBlock && checkedTmmNum > 0)	{		if (interceptNum == worldModel->getBody().getUniNum() &&			worldModel->getCurInterCalculate().getCheckedListNum(					worldModel->getBody()) == NOVALUE)		{			interceptNum = 0;			LOG << "interceptNum reset 3.1" << endl;		}		else if (worldModel->getFullPlayer(TID_TEAMMATE, interceptNum - 1).getPosDeviation() <= 3 &&					worldModel->getCurInterCalculate().getCheckedListNum(					worldModel->getFullPlayer(TID_TEAMMATE, interceptNum - 1)) == NOVALUE)		{			interceptNum = 0;			LOG << "interceptNum reset 3.2" << endl;		}	}	// Condition 4	if (interceptNum && interceptBlock && 		(checkedTmmNum > 0 || checkedOppNum > 0))	{		if (interceptNum == worldModel->getBody().getUniNum())			checkPlayer = &worldModel->getBody();		else			checkPlayer = &worldModel->getFullPlayer(TID_TEAMMATE, interceptNum - 1);		// Checking Teammates		for (unsigned i = 0; i < FULL_PLAYERS_NUM; i++)		{			if (!worldModel->getFullPlayer(TID_TEAMMATE, i).isValid())				continue;			if (worldModel->getFullPlayer(TID_TEAMMATE, i).isGoalie())				continue;			if (abs(getBlockWeight(ballStopPoint, worldModel->getFullPlayer(TID_TEAMMATE, i)) -					 getBlockWeight(ballStopPoint, *checkPlayer)) > 10 &&				getBlockWeight(ballStopPoint, worldModel->getFullPlayer(TID_TEAMMATE, i)) > 				getBlockWeight(ballStopPoint, *checkPlayer))			{				interceptNum = 0;				LOG << "interceptNum reset 4.1" << endl;				break;			}		}		// Checking Body		if (interceptNum && !worldModel->getBody().isGoalie() &&			abs(getBlockWeight(ballStopPoint, worldModel->getBody()) -				 getBlockWeight(ballStopPoint, *checkPlayer)) > 10 &&			getBlockWeight(ballStopPoint, worldModel->getBody()) >			getBlockWeight(ballStopPoint, *checkPlayer))		{			interceptNum = 0;			LOG << "interceptNum reset 4.2" << endl;		}	}	// making interceptNum	if (worldModel->getBall().getPosDeviation() > 10)	{		LOG << "I have not enough information to make a choice." << endl;		return;	}	// intercept conditions	// condition 1	if (interceptNum == 0 && checkedTmmNum == 1 &&		worldModel->getCurInterCalculate().getFastestPlayer().getTeamId() == TID_TEAMMATE &&		worldModel->getCurInterCalculate().getFastestPlayer().getModel() == PLM_FULL)	{ // somebody is the one Fastest.		interceptNum = worldModel->getCurInterCalculate().getFastestPlayer().getUniNum();		interceptBlock = false;		interceptSay = true;		LOG << "interceptNum set 1" << endl;	}	// condition 2	if (interceptNum == 0 && checkedTmmNum > 1 &&		worldModel->getCurInterCalculate().getFastestPlayer().getTeamId() == TID_TEAMMATE)	{ // A few Tmms are Fastest.		defenserPlayer = NOVALUE;		halfPlayerFlag = false;		for (unsigned i = 0; i < worldModel->getCurInterCalculate().getCheckedPlayersNum(); i++)		{			if (worldModel->getCurInterCalculate().getCheckedInterPlayer(i).getPlayer().getTeamId() ==					TID_OPPONENT)				continue;			if (checkedOppNum != 0 &&				worldModel->getCurInterCalculate().getCheckedInterPlayer(i).getInterTime() >					worldModel->getCurInterCalculate().getFastestOppInterPlayer().getInterTime())				continue;						if (worldModel->getCurInterCalculate().getCheckedInterPlayer(i).getPlayer().getModel() ==					PLM_HALF)				halfPlayerFlag = true;			else			{				if (defenserPlayer == NOVALUE)					defenserPlayer = i;				else if (worldModel->getCurInterCalculate().getCheckedInterPlayer(i).getPlayer().getPostNum() <						 	worldModel->getCurInterCalculate().getCheckedInterPlayer(defenserPlayer).getPlayer().getPostNum())					defenserPlayer = i;			}		}		// setting results		if (defenserPlayer != NOVALUE)		{			if (halfPlayerFlag == false)			{				interceptNum = worldModel->getCurInterCalculate().getCheckedInterPlayer(defenserPlayer).getPlayer().getUniNum();				interceptBlock = false;				interceptSay = true;				LOG << "interceptNum set 2.1" << endl;			}			else if (worldModel->getCurInterCalculate().getCheckedInterPlayer(					defenserPlayer).getPlayer().getUniNum() ==					worldModel->getBody().getUniNum()) // I think I must go to ball but I am not sure.			{				interceptNum = worldModel->getBody().getUniNum();				interceptBlock = false;				interceptSay = false;				LOG << "interceptNum set 2.2" << endl;			}		}	}	// block Conditions	// condition 3	if (interceptNum == 0 &&		(worldModel->getBallStatus() == BS_KICKABLE_OPP ||		 worldModel->getBallStatus() == BS_FREE_BALL_OPP))	{		blocker = NOVALUE;		halfPlayerFlag = false;		// Checking Teammates		for (unsigned i = 0; i < FULL_PLAYERS_NUM; i++)		{			if (!worldModel->getFullPlayer(TID_TEAMMATE, i).isValid())				continue;			if (worldModel->getFullPlayer(TID_TEAMMATE, i).isGoalie())				continue;			curBlockWeight = getBlockWeight(ballStopPoint,					worldModel->getFullPlayer(TID_TEAMMATE, i));			if (blocker == NOVALUE || curBlockWeight > maxBlockWeight)			{				blocker = i;				maxBlockWeight = curBlockWeight;			}		}		// Checking Body		if (!worldModel->getBody().isGoalie())		{			curBlockWeight = getBlockWeight(ballStopPoint,					worldModel->getBody());			if (blocker == NOVALUE || curBlockWeight > maxBlockWeight)			{				blocker = worldModel->getBody().getUniNum() - 1;				maxBlockWeight = curBlockWeight;			}		}		// Checking Half Players		if (blocker != NOVALUE)			for (unsigned i = 0; i < HALF_PLAYERS_NUM; i++)			{				if (!worldModel->getHalfPlayer(TID_TEAMMATE, i).isValid())					continue;				if (getBlockWeight(ballStopPoint,						worldModel->getHalfPlayer(TID_TEAMMATE, i)) >						maxBlockWeight)				{					halfPlayerFlag = true;					break;				}			}		// Setting results		if (blocker == NOVALUE)		{			interceptNum = 0;			interceptBlock = true;			interceptSay = false;		}		else if (halfPlayerFlag == false)		{			interceptNum = blocker + 1;			interceptBlock = true;			interceptSay = true;			LOG << "interceptNum set 3.1" << endl;		}		else if (blocker + 1 == worldModel->getBody().getUniNum()) // I think I must block but I am not sure.		{			interceptNum = worldModel->getBody().getUniNum();			interceptBlock = true;			interceptSay = false;			LOG << "interceptNum set 3.2" << endl;		}	}	LOG << "final interceptNum (Bl, Sy, Pn):"		<< " " << interceptBlock		<< " " << interceptSay		<< " " << interceptNum << endl;}float GroupWorks::getBlockWeight(const Point &ballStopPoint,		const Player &player) const{	Vector playerVec;	Vector goalVec;	float dirFactor;	float distFactor;		playerVec.setByPoints(player.getPos(), ballStopPoint);	goalVec.setByPoints(Point(-52.5, 0), ballStopPoint);	distFactor = playerVec.getMagnitude();	dirFactor = abs(Degree::getDeltaAngle(goalVec.getDirection(),			playerVec.getDirection()));	return 100 - 0.15 * dirFactor - 1 * distFactor;}void GroupWorks::setInterceptNumByPassSay(unsigned uniNum){	interceptSay = true;	lastPassHearTime = worldModel->getCurTime();	if (uniNum <= 11) // GoToBall Mode	{		interceptBlock = false;		interceptNum = uniNum;	}	else // Block Mode	{		interceptBlock = true;		interceptNum = uniNum - 11;	}	LOG << "setting interceptNum (Bl, Sy, Pn):"		<< " " << interceptBlock		<< " " << interceptSay		<< " " << interceptNum << endl;}void GroupWorks::resetByChangePlayMode(){	interceptNum = 0;	interceptBlock = false;	interceptSay = false;	lastPassHearTime = 0;}