/* *  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: Arash Rahimi, Ahmad Boorghany * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <cmath>#include <Logger.h>#include <Defines.h>#include <SyncedAgent.h>#include <Positioning.h>#include <iostream>#include <StatelessPlan.h>#include <AdvancedAgent.h>using namespace std;StatelessPlan::~StatelessPlan() { }  StatelessPlan::StatelessPlan(const WorldModel *wm, Form &form,		const Library &library):		Plan("Stateless", wm, form, library), nonPlayOnDecision(wm),		penaltyDecision(wm), goaliePlayOnDecision(wm), withBallPlayOnDecision(wm),		withoutBallPlayOnDecision(wm){ 	LOG << "StatelessPlan::@CONSTRUCTOR --> Constructor called!" << endl;		sayCycleCommand = bodyCycleCommand = headCycleCommand =		pointToCycleCommand = attentionCycleCommand =		changeViewCycleCommand = NULL;}void StatelessPlan::senseBody(const SExpression &exp){	sayCycleCommand = bodyCycleCommand = headCycleCommand =		pointToCycleCommand = attentionCycleCommand =		changeViewCycleCommand = NULL;		nonPlayOnDecision.updateAfterSenseBody();	withBallPlayOnDecision.updateAfterSenseBody();	withoutBallPlayOnDecision.updateAfterSenseBody();}void StatelessPlan::see(const SExpression &exp){}void StatelessPlan::hear(const SExpression &exp){}void StatelessPlan::decide(){	LOG << "StatelessPlan::decide" << endl;	bool kickPermission = true;	if (wm->getBallStatus() == BS_KICKABLE_BODY_TMM &&		(library.lastBodyCycleCommand->getCreator() == AT_NONE ||		 library.lastBodyCycleCommand->getCreator() == AT_OFFENSE ||		 library.lastBodyCycleCommand->getCreator() == AT_DEFENSE ||		 library.lastBodyCycleCommand->getCreator() == AT_INTERCEPT ||		 library.lastBodyCycleCommand->getCreator() == AT_DRIBBLE_INTERCEPT ||		 library.lastBodyCycleCommand->getCreator() == AT_LOOK_FOR_BALL ||		 library.lastBodyCycleCommand->getCreator() == AT_BLOCK))		kickPermission = false;	if (wm->getPlayMode() == PM_PLAY_ON ||		(wm->getPlayMode() == PM_GOAL_KICK &&		 wm->getVirtualPlayMode() == VPM_GOAL_KICK_TAKEN))	{		if (!wm->getBall().isValid())		{			LOG << "Looking for ball." << endl;			form.headForm.tnMode = TNM_LOOK_NORMALLY;			bodyCycleCommand = new TurnCommand(AT_LOOK_FOR_BALL, 45);		}		else if (wm->getBody().isGoalie())		{			goaliePlayOnDecision.decide(library.quickLevel, form, library);			bodyCycleCommand = goaliePlayOnDecision.getCommand();		}		else if (wm->isBallKickable() && kickPermission)		{//			if (library.quickLevel <= 0)//				wm->updateCurKickCalculate();			withBallPlayOnDecision.decide(library.quickLevel, form, library);			bodyCycleCommand = withBallPlayOnDecision.getCommand();			setLastWithBallDecideValid(true);		}		else		{			checkForLastWithBallDecideValid();			WithoutBallSelection wobSelection;			if (isLastWithBallDecideValid() &&				withBallPlayOnDecision.getLastWithBallDecide() == AT_SRPDRIBBLE)			{				LOG << "I will Intercept to ball immediately." << endl;				wobSelection = WOBS_INTERCEPT;			}			else				wobSelection = library.gwSelection;			withoutBallPlayOnDecision.decide(library.quickLevel,					wobSelection, form, library);			bodyCycleCommand = withoutBallPlayOnDecision.getCommand();		}	}	else if (wm->getPlayMode() == PM_PENALTY_SETUP ||			wm->getPlayMode() == PM_PENALTY_SETUP_OPP ||			wm->getPlayMode() == PM_PENALTY_READY ||			wm->getPlayMode() == PM_PENALTY_READY_OPP)	{		if (!wm->getBall().isValid())		{			LOG << "Looking for ball." << endl;			form.headForm.tnMode = TNM_LOOK_NORMALLY;			bodyCycleCommand = new TurnCommand(AT_LOOK_FOR_BALL, 45);		}		else		{	/*			if (library.quickLevel <= 0 && wm->isBallKickable())			{				LOG << "PENALTY: updateCurKickCalculate() ..." << endl;				wm->updateCurKickCalculate();				LOG << "PENALTY: updated." << endl;			}*/			penaltyDecision.decide(library.quickLevel, form, library);			bodyCycleCommand = penaltyDecision.getCommand();		}	}	else	{		if (!wm->getBall().isValid())		{			LOG << "Looking for ball." << endl;			form.headForm.tnMode = TNM_LOOK_NORMALLY;			bodyCycleCommand = new TurnCommand(AT_LOOK_FOR_BALL, 45);		}		else		{//			if (library.quickLevel <= 0 && wm->isBallKickable())//				wm->updateCurKickCalculate();			nonPlayOnDecision.decide(library.quickLevel, form, library);			bodyCycleCommand = nonPlayOnDecision.getCommand();		}	}	if (!bodyCycleCommand)		bodyCycleCommand = new EmptyCommand(AT_NONE);	throw bodyCycleCommand;}double StatelessPlan::successRate(){	return 1.0;}bool StatelessPlan::isFinished(){	return false;}void StatelessPlan::checkForLastWithBallDecideValid(){	if (wm->getBallStatus() == BS_KICKABLE_TMM ||		wm->getBallStatus() == BS_KICKABLE_OPP ||		wm->getBallStatus() == BS_KICKABLE_TMM_OPP)		setLastWithBallDecideValid(false);}// Getting functionsbool StatelessPlan::isLastWithBallDecideValid() const{	return lastWithBallDecideValidFlag;}// Setting functionsvoid StatelessPlan::setLastWithBallDecideValid(bool lastWithBallDecideValidArg){	lastWithBallDecideValidFlag = lastWithBallDecideValidArg;}