agent2d-3.1.1.rar

// -*-c++-*- /*! \file sample_communication.cpp \brief sample communication planner Source File */ /* *Copyright: Copyright (C) Hidehisa AKIYAMA This code 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; either version 3, or (at your option) any later version. This code 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 General Public License for more details. You should have received a copy of the GNU General Public License along with this code; see the file COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. *EndCopyright: */ ///////////////////////////////////////////////////////////////////// #ifdef HAVE_CONFIG_H #include <config.h> #endif #include "sample_communication.h" #include "strategy.h" #include <rcsc/formation/formation.h> #include <rcsc/player/player_agent.h> #include <rcsc/player/intercept_table.h> #include <rcsc/player/say_message_builder.h> #include <rcsc/player/freeform_parser.h> #include <rcsc/common/logger.h> #include <rcsc/common/server_param.h> #include <rcsc/common/player_param.h> #include <rcsc/common/audio_memory.h> #include <rcsc/common/say_message_parser.h> #include <cmath> // #define DEBUG_PRINT // #define DEBUG_PRINT_PLAYER_RECORD using namespace rcsc; namespace { struct ObjectScore { const AbstractPlayerObject * player_; int number_; double score_; ObjectScore() : player_( static_cast< AbstractPlayerObject * >( 0 ) ), number_( -1 ), score_( -65535.0 ) { } struct Compare { bool operator()( const ObjectScore & lhs, const ObjectScore & rhs ) const { return lhs.score_ > rhs.score_; } }; struct IllegalChecker { bool operator()( const ObjectScore & val ) const { return val.score_ <= 0.1; } }; }; struct AbstractPlayerSelfDistCmp { bool operator()( const AbstractPlayerObject * lhs, const AbstractPlayerObject * rhs ) const { return lhs->distFromSelf() < rhs->distFromSelf(); } }; struct AbstractPlayerBallDistCmp { bool operator()( const AbstractPlayerObject * lhs, const AbstractPlayerObject * rhs ) const { return lhs->distFromBall() < rhs->distFromBall(); } }; struct AbstractPlayerBallXDiffCmp { private: AbstractPlayerBallXDiffCmp(); public: const double ball_x_; AbstractPlayerBallXDiffCmp( const double & ball_x ) : ball_x_( ball_x ) { } bool operator()( const AbstractPlayerObject * lhs, const AbstractPlayerObject * rhs ) const { return std::fabs( lhs->pos().x - ball_x_ ) < std::fabs( rhs->pos().x - ball_x_ ); } }; struct AbstractPlayerXCmp { bool operator()( const AbstractPlayerObject * lhs, const AbstractPlayerObject * rhs ) const { return lhs->pos().x < rhs->pos().x; } }; inline double distance_rate( const double & val, const double & variance ) { return std::exp( - std::pow( val, 2 ) / ( 2.0 * std::pow( variance, 2 ) ) ); } inline double distance_from_ball( const AbstractPlayerObject * p, const Vector2D & ball_pos, const double & x_rate, const double & y_rate ) { //return p->distFromBall(); return std::sqrt( std::pow( ( p->pos().x - ball_pos.x ) * x_rate, 2 ) + std::pow( ( p->pos().y - ball_pos.y ) * y_rate, 2 ) ); // Magic Number } } /*-------------------------------------------------------------------*/ /*! */ SampleCommunication::SampleCommunication() : M_current_sender_unum( Unum_Unknown ), M_next_sender_unum( Unum_Unknown ), M_ball_send_time( 0, 0 ) { for ( int i = 0; i < 12; ++i ) { M_teammate_send_time[i].assign( 0, 0 ); M_opponent_send_time[i].assign( 0, 0 ); } } /*-------------------------------------------------------------------*/ /*! */ SampleCommunication::~SampleCommunication() { } /*-------------------------------------------------------------------*/ /*! */ bool SampleCommunication::execute( PlayerAgent * agent ) { if ( ! agent->config().useCommunication() ) { return false; } updateCurrentSender( agent ); const WorldModel & wm = agent->world(); const bool penalty_shootout = wm.gameMode().isPenaltyKickMode(); bool say_recovery = false; if ( wm.gameMode().type() != GameMode::PlayOn && ! penalty_shootout && currentSenderUnum() == wm.self().unum() && wm.self().recovery() < ServerParam::i().recoverInit() - 0.002 ) { say_recovery = true; sayRecovery( agent ); } if ( wm.gameMode().type() == GameMode::BeforeKickOff || wm.gameMode().type() == GameMode::AfterGoal_ || penalty_shootout ) { return say_recovery; } #ifdef DEBUG_PRINT_PLAYER_RECORD const AudioMemory::PlayerRecord::const_iterator end = agent->world().audioMemory().playerRecord().end(); for ( AudioMemory::PlayerRecord::const_iterator p = agent->world().audioMemory().playerRecord().begin(); p != end; ++p ) { dlog.addText( Logger::COMMUNICATION, __FILE__": PlayerRecord: time=[%d,%d] %s %d from %d", p->first.cycle(), p->first.stopped(), p->second.unum_ <= 11 ? "teammate" : "opponent", p->second.unum_ <= 11 ? p->second.unum_ : p->second.unum_ - 11, p->second.sender_ ); } #endif #if 1 sayBallAndPlayers( agent ); sayStamina( agent ); #else sayBall( agent ); sayGoalie( agent ); saySelf( agent ); sayPlayers( agent ); #endif attentiontoSomeone( agent ); return true; } /*-------------------------------------------------------------------*/ /*! */ void SampleCommunication::updateCurrentSender( const PlayerAgent * agent ) { const WorldModel & wm = agent->world(); if ( agent->effector().getSayMessageLength() > 0 ) { M_current_sender_unum = wm.self().unum(); return; } // if ( wm.self().distFromBall() > ServerParam::i().audioCutDist() + 30.0 ) // { // M_current_sender_unum = wm.self().unum(); // return; // } M_current_sender_unum = Unum_Unknown; std::vector< int > candidate_unum; candidate_unum.reserve( 11 ); if ( wm.ball().pos().x < -10.0 || wm.gameMode().type() != GameMode::PlayOn ) { // // all players // for ( int unum = 1; unum <= 11; ++unum ) { candidate_unum.push_back( unum ); } } else { // // exclude goalie // const int goalie_unum = ( wm.ourGoalieUnum() != Unum_Unknown ? wm.ourGoalieUnum() : Strategy::i().goalieUnum() ); for ( int unum = 1; unum <= 11; ++unum ) { if ( unum != goalie_unum ) { candidate_unum.push_back( unum ); #if 0 dlog.addText( Logger::COMMUNICATION, __FILE__": (updateCurrentSender) field_player unum=%d", candidate_unum.back() ); #endif } } } int val = ( wm.time().stopped() > 0 ? wm.time().cycle() + wm.time().stopped() : wm.time().cycle() ); int current = val % candidate_unum.size(); int next = ( val + 1 ) % candidate_unum.size(); M_current_sender_unum = candidate_unum[current]; M_ne