/*Brainstormers 2D (Soccer Simulation League 2D)PUBLIC SOURCE CODE RELEASE 2005Copyright (C) 1998-2005 Neuroinformatics Group,                        University of Osnabrueck, GermanyThis program is free software; you can redistribute it and/ormodify it under the terms of the GNU General Public Licenseas published by the Free Software Foundation; either version 2of the License, or (at your option) any later version.This program is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without even the implied warranty ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See theGNU General Public License for more details.You should have received a copy of the GNU General Public Licensealong with this program; if not, write to the Free SoftwareFoundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.*/#include "attention_to_bma.h"#include "intentiontype.h"#include "blackboard.h"#include "ws_info.h"#include "ws_memory.h"#include "../policy/positioning.h"#if 1#define MYLOG_POL(LLL,XXX) LOG_POL(LLL,XXX)//#define MYLOG_DRAW(LLL,XXX) LOG_POL(LLL,<<_2D<<XXX)#else#define MYLOG_POL(LLL,XXX) #define MYLOG_DRAW(LLL,XXX)#endifbool AttentionTo::initialized = false;AttentionTo::AttentionTo() {}bool AttentionTo::get_cmd(Cmd &cmd) {  construct_say_message(cmd);  set_attention_to(cmd);  return true;}void AttentionTo::set_attention_to(Cmd & cmd){  if (cmd.cmd_att.is_cmd_set()){    MYLOG_POL(0, << "ATTENTION TO:  CMD FORM ALREADY SET !!! ");    return;  }  Vector target;  Value speed;  int target_player_number;  // attention of PASS PLAYER  if(Blackboard::get_pass_info(WSinfo::ws->time, speed, target, target_player_number) == true){    if ( target_player_number > 0 ){      MYLOG_POL(0, << "ATTENTION TO: Set attention to pass_receiver "<<target_player_number);      cmd.cmd_att.set_attentionto(target_player_number);    }    return;  } // pass player  int  new_att= 0;  Vector ballholder_pos;  int ballholder;  if(teammate_controls_ball(ballholder, ballholder_pos)){// I do not control the ball myself and a teammate has the ball    if(ballholder >0 && ballholder != WSinfo::me->number)      new_att = ballholder;    MYLOG_POL(0, << "ATTENTION TO: Set attention to ball holder "<<ballholder);  }  // if someone plays a pass, keep attention to him!  PPlayer p= WSinfo::get_teammate_with_newest_pass_info();  if ( p ) {    new_att = p->number;    MYLOG_POL(0, << "ATTENTION TO: Set attention to pass giver "<<new_att);  }  MYLOG_POL(0,<<"ATTENTION TO: Current Attention to is set to player "<< WSinfo::ws->my_attentionto);  if(new_att == 0){// not set yet    PPlayer teammate;#if 1 // debug information only    for(int i=0; i<WSinfo::num_relevant_teammates;i++){      MYLOG_POL(0,<<"ATTENTION 2: list of relevant teammates "<<WSinfo::relevant_teammate[i]);    }#endif    for(int i=0; i<WSinfo::num_relevant_teammates;i++){      if(WSinfo::get_teammate(WSinfo::relevant_teammate[i],teammate)){	MYLOG_POL(0,<<"ATTENTION 2: Checking relevant teammate "		<<teammate->number<<" age "<<teammate->age);	if(new_att == 0 && teammate->age >1){ // not yet found and too old	  new_att = teammate->number;	}	if(teammate->age >3){ // much too old -> emergency set attention	  new_att = teammate->number;	  break;	}      }      else{ // strange: relevant teammate not found -> set attention to	MYLOG_POL(0,<<"ATTENTION 2: Teammate "<<WSinfo::relevant_teammate[i]<<" not found. Set attention");	new_att =WSinfo::relevant_teammate[i];	break; // quit loop      }    }  }  int old_att= WSinfo::ws->my_attentionto;  if (old_att <= 0)    old_att= 0;  if (new_att <= 0)    new_att= 0;  if ( old_att == new_att ) {    MYLOG_POL(0,<<"ATTENTION TO: old attention = new attention: "<<new_att);    return;  }  if ( new_att > 0 ) {#if 0 // ridi: do not check this -> we want to listen to players, that we don' t see currently    PPlayer p= WSinfo::get_teammate_by_number(new_att);    if ( p && p->alive ){ //otherwise attentionto causes (wrong command form) messages#endif      cmd.cmd_att.set_attentionto(new_att);      MYLOG_POL(0,<<"ATTENTION TO: Set Attention to player "<<new_att);      //    }  }  else{ // new_att <= 0;  this should not happen    cmd.cmd_att.set_attentionto_none();    MYLOG_POL(0,<<"ATTENTION TO: set NO attention -> CHECK!!!");  }}void AttentionTo::construct_say_message(Cmd & cmd){  Vector target;  Value speed,dir;  int target_player_number;  // Communication for GOALIE  if (ClientOptions::consider_goalie)   {    if ((WSinfo::ball->age <= 4) && (WSinfo::ws->play_mode == PM_PlayOn))     {      //ball information      cmd.cmd_say.set_ball(WSinfo::ball->pos, WSinfo::ball->vel, WSinfo::ball->age, 4);      return;    }   } // Goalie  // Communication for PASS PLAYER  if(Blackboard::get_pass_info(WSinfo::ws->time, speed, target, target_player_number) == true){    MYLOG_POL(0, << "COMMUNICATION: Blackboard intention is PASS: to "<<target_player_number<<" target pos "	    <<target<<" w. speed "<<speed<<" -> Communicate");    int cycles2go = 0; // communicate for one cycle only    if (Blackboard::pass_intention.immediatePass == false) cycles2go = 1;    Vector ballvel;    ballvel.init_polar(speed,(target - WSinfo::me->pos).arg());    cmd.cmd_say.set_pass(WSinfo::me->pos,ballvel,WSinfo::ws->time + cycles2go);    return;  } // pass info was set  else  {    MYLOG_POL(0,<<"COMMUNICATE: Blackboard contains no pass info. So I do not communicate a pass."<<std::flush);  }  // Communication for PASS PLAYER, WHEN BALL JUST LEFT  if(WSinfo::is_ball_kickable() == false && WSmemory::ball_was_kickable4me_at == WSinfo::ws->time -1){    // I had the ball last time, so communicate where the ball is now    MYLOG_POL(0, << "Communicate: I had the ball last cycle, now I say where it goes ["<<WSinfo::ball->pos+WSinfo::ball->vel<<","<<ServerOptions::ball_decay*WSinfo::ball->vel<<"]");    cmd.cmd_say.set_ball(WSinfo::ball->pos, WSinfo::ball->vel, WSinfo::ball->age, WSinfo::ball->age );  }    // Communication for BALL HOLDER  if(WSinfo::is_ball_pos_valid() && WSinfo::is_ball_kickable()){ // ball is kickable, but no pass info was set    MYLOG_POL(0, << "COMMUNICATE: I have the ball and my Position. Use set me as Ballholder"<<std::flush);    cmd.cmd_say.set_me_as_ball_holder(WSinfo::me->pos);    return;  }  // Communication for PLAYER WO BALL  generate_players4communication(cmd);}#define MAX_SAY_CAPACITY 4 // no more than 4 playersvoid AttentionTo::generate_players4communication(Cmd & cmd_form){  WSpset players4communication;  PPlayer ballholder = WSinfo::teammate_closest2ball();  if(!WSinfo::is_ball_kickable()) {// I do not control the ball myself    // compute my next position    Vector my_next_pos, my_next_vel;    Angle my_next_ang;    Tools::model_player_movement(WSinfo::me->pos,WSinfo::me->vel,WSinfo::me->ang.get_value(),				 cmd_form.cmd_main, my_next_pos, 				 my_next_vel, my_next_ang);    MYLOG_POL(0,<<"I am not holding the ball, so communicate my next position "	    << my_next_pos<<" (current pos "<<WSinfo::me->pos);          //    MYLOG_POL(0,<<_2D<<C2D(my_next_pos.x, my_next_pos.y, 1.1, "grey"));    // construct communication set :    WS::Player next_me = *WSinfo::me;    next_me.pos = my_next_pos;    players4communication.append(&next_me);          if(ballholder !=NULL){      WSpset pset= WSinfo::valid_opponents;      pset.keep_players_with_max_age(1);      float width1 =  1.0 * 2* ((ballholder->pos-WSinfo::me->pos).norm()/2.5);      float width2 = 4; // at ball be  a little smaller      Quadrangle2d check_area = Quadrangle2d(ballholder->pos, WSinfo::me->pos , width1, width2);      LOG_POL(0, <<_2D<<check_area );      pset.keep_players_in(check_area);      //pset.keep_players_in_quadrangle(WSinfo::me->pos, ballholder->pos, 10 ); // players between me and ballholder      pset.keep_and_sort_closest_players_to_point(2,ballholder->pos);          if(pset.num>0){	MYLOG_POL(0,<<"COMMUNICATE: Found Opponents in passway: "<<pset.num<<std::flush);	players4communication.append(pset);      }      pset= WSinfo::valid_opponents;      pset.keep_players_with_max_age(0);      pset.keep_players_in_circle(ballholder->pos,5.); // opponents close 2 me      pset.keep_and_sort_closest_players_to_point(2,ballholder->pos);      if(pset.num>0){	MYLOG_POL(0,<<"COMMUNICATE: Found Opponents close2e ballholder: "<<pset.num<<std::flush);	players4communication.join(pset);      }    }    if(players4communication.num < MAX_SAY_CAPACITY){      WSpset pset= WSinfo::valid_opponents;      pset.keep_players_with_max_age(0);      pset.keep_players_in_circle(my_next_pos,40.); // opponents close 2 me      pset.keep_and_sort_closest_players_to_point(10,my_next_pos);      if(pset.num>0){	MYLOG_POL(0,<<"COMMUNICATE: Found Opponents close2e my next pos: "<<pset.num<<std::flush);	players4communication.join(pset);      }    }    if(players4communication.num < MAX_SAY_CAPACITY){      WSpset pset= WSinfo::valid_teammates_without_me;      pset.keep_players_with_max_age(0);      pset.keep_players_in_circle(my_next_pos,40.); // opponents close 2 me      pset.keep_and_sort_closest_players_to_point(10,my_next_pos);      if(pset.num>0){	MYLOG_POL(0,<<"COMMUNICATE: Found Teammates close2e my next pos: "<<pset.num<<std::flush);	players4communication.join(pset);      }    }  } // ball is not kickable for me and teammate controls the ball  for(int i=0; i<players4communication.num;i++){    MYLOG_POL(0,<<"My communication set "<<i<<" number "	    <<players4communication[i]->number<<" pos "<<players4communication[i]->pos);        MYLOG_POL(0,<<_2D<<C2D(players4communication[i]->pos.x, players4communication[i]->pos.y, 1.3, "magenta"));  }  cmd_form.cmd_say.set_players( players4communication );}bool AttentionTo::teammate_controls_ball(int &number, Vector & pos){  number = 0; // default  if(WSinfo::is_ball_kickable() != false){// I control the ball myself!    return false;  }  int steps2go;  Vector ipos;      WSpset teammates = WSinfo::valid_teammates_without_me;  InterceptResult ires[1];  teammates.keep_and_sort_best_interceptors_with_intercept_behavior_to_WSinfoBallPos            ( 1, ires );  if (teammates.num > 0 && ires[0].time <= 2)  {    number = teammates[0]->number;    pos    = teammates[0]->pos;    MYLOG_POL(2,<<"AttentionTo: /EXPENSIVE INTERCEPT/ To my way of thinking, the fastest intercepting teammate, to whom I ought to pay attention, is #"<<number<<", standing at "<<pos);    return true;  }  PPlayer teammate=Tools::get_our_fastest_player2ball(ipos, steps2go);  if(steps2go <= 2 && teammate && teammate != WSinfo::me){ // check: steps2go <= 1 oder steps2go <= 2 besser?    number=teammate->number;    pos = teammate->pos;    MYLOG_POL(2,<<"AttentionTo: /CHEAP INTERCEPT/ To my way of thinking, the fastest intercepting teammate, to whom I ought to pay attention, is #"<<number<<", standing at "<<pos);    return true;  }  return false;}