/* *  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: Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <AdvancedAgent.h>#include <GotoSidePlan.h>#include <DribblePlan.h>#include <PassPlan.h>#include <InterceptPlan.h>#include <OffensePosPlan.h>#include <Logger.h>#include <Basics.h>#include <cassert>using namespace std;using namespace Basics;GotoSidePlan::GotoSidePlan(const WorldModel *wm, Form &form,		const Library &library, Side side): Plan("GotoSide", wm, form, library),		side(side), passCycle(0), getBallCycle(0),		minSuccessRate(.24){}GotoSidePlan::~GotoSidePlan(){}void GotoSidePlan::decide(){	if (side == SI_LEFT)		LOG << "GotoSidePlan::decide (Side : Left)" << endl;	else		LOG << "GotoSidePlan::decide (Side : Right)" << endl;	Plan::decide();	if (wm->isBallKickable())	{		if (!getBallCycle)			getBallCycle = wm->getCurCycle();		passCycle = wm->getCurCycle();		switch (side)		{		case SI_LEFT:			if (wm->getBody().getUniNum() == 2)				startPlan(new PassPlan(wm, form, library,						BPM_BREAKOFFSIDE + BPM_OFFENSE, 10, 70, 110, 60, 120),						minSuccessRate);			startPlan(bestPlan(6, true,					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							2, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							3, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							4, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							7, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							8, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							11, 0, 120, 0, 120)), minSuccessRate);			break;		case SI_RIGHT:			if (wm->getBody().getUniNum() == 4)				startPlan(new PassPlan(wm, form, library,						BPM_BREAKOFFSIDE + BPM_OFFENSE, 11, -110, -70, -120, -60),						minSuccessRate);			startPlan(bestPlan(6, true,					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							4, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							3, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							2, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							8, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							7, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							10, -120, 0, -120, 0)), minSuccessRate);			break;		}		passCycle = 0;		LOG << name << " Plan WARNING!!! : "				<< "All WithBall Plans Finished Without Return Any Command." << endl;		LOG << name << " Plan : "				<< "Now Run Dribble Plan Without Check SuccessRate or isFinished"				<< "(Urgent State)." << endl;		DribblePlan dribblePlan(wm, form, library);		dribblePlan.decide();	}	else	{		getBallCycle = 0;		if (library.gwSelection == WOBS_INTERCEPT)			startPlan(new InterceptPlan(wm, form, library));		startPlan(new OffensePosPlan(wm, form, library));	}	LOG << "GotoSidePlan Now Kill Program" << endl;	assert(0);}double GotoSidePlan::successRate(){	return 1.0;}bool GotoSidePlan::isFinished(){	if (passCycle == wm->getCurCycle() - 1) 	{		if (side == SI_LEFT)		{			form.sayForm.planSay = true;			form.sayForm.planHeader = "X";			form.sayForm.planInfo = "GSPL";		}		else		{			form.sayForm.planSay = true;			form.sayForm.planHeader = "X";			form.sayForm.planInfo = "GSPR";		}		return true;	}	if (!wm->isBallKickable()) return false; 	if (getBallCycle + 5 >= wm->getCurCycle()) return true;	try	{		switch (side)		{		case SI_LEFT:			if (wm->getBody().getUniNum() == 2)				throw (new PassPlan(wm, form, library, BPM_BREAKOFFSIDE + BPM_OFFENSE,						10, 70, 110, 60, 120));			throw (bestPlan(7, true,					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							2, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							3, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							4, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							5, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							7, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							8, 0, 120, 0, 120),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							11, 0, 120, 0, 120)));			break;		case SI_RIGHT:			if (wm->getBody().getUniNum() == 4)				throw (new PassPlan(wm, form, library, BPM_BREAKOFFSIDE + BPM_OFFENSE,						11, -110, -40, -120, -40));			throw (bestPlan(7, true,					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							4, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							3, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							2, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							5, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							8, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							7, -120, 0, -120, 0),					new PassPlan(wm, form, library, BPM_SECUREBALL + BPM_OFFENSE,							10, -120, 0, -120, 0)));			break;		}	}	catch(Plan *tempPlan)	{		bool finished = true;		if (tempPlan->successRate() >= minSuccessRate)			finished = false;		delete tempPlan;		return finished;	}	if (((isInPlayers(wm->getBody().getUniNum(), "234578B") && side == SI_LEFT) ||			(isInPlayers(wm->getBody().getUniNum(), "234578A") && side == SI_RIGHT)))		return false;	return true;}