1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
// -*-c++-*-
/*
*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 "agent.h"
#include "strategy.h"
#include "field_analyzer.h"
#include "action_chain_holder.h"
#include "sample_field_evaluator.h"
#include "soccer_role.h"
#include "sample_communication.h"
#include "keepaway_communication.h"
#include "bhv_chain_action.h"
#include "bhv_penalty_kick.h"
#include "bhv_set_play.h"
#include "bhv_set_play_kick_in.h"
#include "bhv_set_play_indirect_free_kick.h"
#include "shoot_generator.h"
#include "bhv_force_pass.h"
#include "bhv_custom_before_kick_off.h"
#include "bhv_strict_check_shoot.h"
#include "bhv_basic_move.h"
#include "view_tactical.h"
#include "intention_receive.h"
#include "lowlevel_feature_extractor.h"
#include "highlevel_feature_extractor.h"
#include "actgen_cross.h"
#include "actgen_direct_pass.h"
#include "actgen_self_pass.h"
#include "actgen_strict_check_pass.h"
#include "actgen_short_dribble.h"
#include "actgen_simple_dribble.h"
#include "actgen_shoot.h"
#include "actgen_action_chain_length_filter.h"
#include <rcsc/action/basic_actions.h>
#include <rcsc/action/bhv_emergency.h>
#include <rcsc/action/body_go_to_point.h>
#include <rcsc/action/body_intercept.h>
#include <rcsc/action/body_kick_one_step.h>
#include <rcsc/action/body_pass.h>
#include <rcsc/action/body_dribble.h>
#include <rcsc/action/body_smart_kick.h>
#include <rcsc/action/neck_scan_field.h>
#include <rcsc/action/neck_turn_to_ball_or_scan.h>
#include <rcsc/action/view_synch.h>
#include <rcsc/formation/formation.h>
#include <rcsc/action/kick_table.h>
#include <rcsc/player/intercept_table.h>
#include <rcsc/player/say_message_builder.h>
#include <rcsc/player/audio_sensor.h>
#include <rcsc/player/freeform_parser.h>
#include <rcsc/player/free_message.h>
#include <rcsc/common/basic_client.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 <rcsc/common/free_message_parser.h>
#include <rcsc/param/param_map.h>
#include <rcsc/param/cmd_line_parser.h>
#include <iostream>
#include <sstream>
#include <string>
#include <cstdlib>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <poll.h>
using namespace rcsc;
using namespace hfo;
Agent::Agent()
: PlayerAgent(),
M_communication(),
M_field_evaluator(createFieldEvaluator()),
M_action_generator(createActionGenerator()),
lastTrainerMessageTime(-1),
server_port(6008),
client_connected(false),
num_teammates(-1),
num_opponents(-1),
playing_offense(false)
{
boost::shared_ptr< AudioMemory > audio_memory( new AudioMemory );
M_worldmodel.setAudioMemory( audio_memory );
// set communication message parser
addSayMessageParser( SayMessageParser::Ptr( new BallMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new PassMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new InterceptMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new GoalieMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new GoalieAndPlayerMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new OffsideLineMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new DefenseLineMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new WaitRequestMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new PassRequestMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new DribbleMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new BallGoalieMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new OnePlayerMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new TwoPlayerMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new ThreePlayerMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new SelfMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new TeammateMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new OpponentMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new BallPlayerMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new StaminaMessageParser( audio_memory ) ) );
addSayMessageParser( SayMessageParser::Ptr( new RecoveryMessageParser( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 9 >( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 8 >( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 7 >( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 6 >( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 5 >( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 4 >( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 3 >( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 2 >( audio_memory ) ) );
// addSayMessageParser( SayMessageParser::Ptr( new FreeMessageParser< 1 >( audio_memory ) ) );
// set freeform message parser
setFreeformParser(FreeformParser::Ptr(new FreeformParser(M_worldmodel)));
// set action generators
// M_action_generators.push_back( ActionGenerator::Ptr( new PassGenerator() ) );
// set communication planner
M_communication = Communication::Ptr(new SampleCommunication());
}
Agent::~Agent() {
delete feature_extractor;
std::cout << "[Agent Server] Closing Server." << std::endl;
close(newsockfd);
close(sockfd);
}
bool Agent::initImpl(CmdLineParser & cmd_parser) {
bool result = PlayerAgent::initImpl(cmd_parser);
// read additional options
result &= Strategy::instance().init(cmd_parser);
rcsc::ParamMap my_params("Additional options");
my_params.add()
("numTeammates", "", &num_teammates)
("numOpponents", "", &num_opponents)
("playingOffense", "", &playing_offense)
("serverPort", "", &server_port);
cmd_parser.parse(my_params);
if (cmd_parser.count("help") > 0) {
my_params.printHelp(std::cout);
return false;
}
if (cmd_parser.failed()) {
std::cerr << "player: ***WARNING*** detected unsuppprted options: ";
cmd_parser.print( std::cerr );
std::cerr << std::endl;
}
#ifdef ELOG
#else
const std::list<std::string>& args = cmd_parser.args();
if (std::find(args.begin(), args.end(), "--record") != args.end()) {
std::cerr
<< "[Agent Client] ERROR: Action recording requested but no supported."
<< " To enable action recording, install https://github.com/mhauskn/librcsc"
<< " and recompile with -DELOG. See CMakeLists.txt"
<< std::endl;
return false;
}
#endif
if (!result) {
return false;
}
if (!Strategy::instance().read(config().configDir())) {
std::cerr << "***ERROR*** Failed to read team strategy." << std::endl;
return false;
}
if (KickTable::instance().read(config().configDir() + "/kick-table")) {
std::cerr << "Loaded the kick table: ["
<< config().configDir() << "/kick-table]"
<< std::endl;
}
assert(num_teammates >= 0);
assert(num_opponents >= 0);
startServer(server_port);
return true;
}
void Agent::startServer(int server_port) {
std::cout << "[Agent Server] Starting Server on Port " << server_port << std::endl;
struct sockaddr_in serv_addr;
sockfd = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd < 0) {
perror("[Agent Server] ERROR opening socket");
exit(1);
}
bzero((char *) &serv_addr, sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_addr.s_addr = INADDR_ANY;
serv_addr.sin_port = htons(server_port);
if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0) {
perror("[Agent Server] ERROR on binding");
exit(1);
}
listen(sockfd, 5);
}
void Agent::listenForConnection() {
int rv;
struct pollfd ufd;
ufd.fd = sockfd;
ufd.events = POLLIN;
rv = poll(&ufd, 1, 1000);
if (rv == -1) {
perror("poll"); // error occurred in poll()
} else if (rv == 0) {
std::cout << "[Agent Server] Waiting for client to connect... " << std::endl;
} else {
if (ufd.revents & POLLIN) {
struct sockaddr_in cli_addr;
socklen_t clilen = sizeof(cli_addr);
newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
if (newsockfd < 0) {
perror("[Agent Server] ERROR on accept");
close(sockfd);
exit(1);
}
std::cout << "[Agent Server] Connected" << std::endl;
clientHandshake();
}
}
}
void Agent::clientHandshake() {
// Send float 123.2345
float f = 123.2345;
if (send(newsockfd, &f, sizeof(float), 0) < 0) {
perror("[Agent Server] ERROR sending from socket");
close(sockfd);
exit(1);
}
// Recieve float 5432.321
if (recv(newsockfd, &f, sizeof(float), 0) < 0) {
perror("[Agent Server] ERROR recv from socket");
close(sockfd);
exit(1);
}
// Check that error is within bounds
if (abs(f - 5432.321) > 1e-4) {
perror("[Agent Server] Handshake failed. Improper float recieved.");
close(sockfd);
exit(1);
}
// Recieve the feature set to use
hfo::feature_set_t feature_set;
if (recv(newsockfd, &feature_set, sizeof(int), 0) < 0) {
perror("[Agent Server] PERROR recv from socket");
close(sockfd);
exit(1);
}
// Create the corresponding FeatureExtractor
if (feature_extractor != NULL) {
delete feature_extractor;
}
feature_extractor = getFeatureExtractor(feature_set, num_teammates,
num_opponents, playing_offense);
// Send the number of features
int numFeatures = feature_extractor->getNumFeatures();
assert(numFeatures > 0);
if (send(newsockfd, &numFeatures, sizeof(int), 0) < 0) {
perror("[Agent Server] ERROR sending from socket");
close(sockfd);
exit(1);
}
// Check that client has recieved correctly
int client_response = -1;
if (recv(newsockfd, &client_response, sizeof(int), 0) < 0) {
perror("[Agent Server] ERROR recv from socket");
close(sockfd);
exit(1);
}
if (client_response != numFeatures) {
perror("[Agent Server] Client incorrectly parsed the number of features.");
close(sockfd);
exit(1);
}
std::cout << "[Agent Server] Handshake complete" << std::endl;
client_connected = true;
rcsc::FreeMessage<5> *free_msg = new FreeMessage<5>("ready");
addSayMessage(free_msg);
}
FeatureExtractor* Agent::getFeatureExtractor(feature_set_t feature_set_indx,
int num_teammates,
int num_opponents,
bool playing_offense) {
switch (feature_set_indx) {
case LOW_LEVEL_FEATURE_SET:
return new LowLevelFeatureExtractor(num_teammates, num_opponents,
playing_offense);
break;
case HIGH_LEVEL_FEATURE_SET:
return new HighLevelFeatureExtractor(num_teammates, num_opponents,
playing_offense);
break;
default:
std::cerr << "[Feature Extractor] ERROR Unrecognized Feature set index: "
<< feature_set_indx << std::endl;
exit(1);
}
}
status_t Agent::getGameStatus(const rcsc::AudioSensor& audio_sensor,
long& lastTrainerMessageTime) {
status_t game_status = IN_GAME;
if (audio_sensor.trainerMessageTime().cycle() > lastTrainerMessageTime) {
const std::string& message = audio_sensor.trainerMessage();
bool recognized_message = true;
if (message.compare("GOAL") == 0) {
game_status = GOAL;
} else if (message.compare("CAPTURED_BY_DEFENSE") == 0) {
game_status = CAPTURED_BY_DEFENSE;
} else if (message.compare("OUT_OF_BOUNDS") == 0) {
game_status = OUT_OF_BOUNDS;
} else if (message.compare("OUT_OF_TIME") == 0) {
game_status = OUT_OF_TIME;
} else {
recognized_message = false;
}
if (recognized_message) {
lastTrainerMessageTime = audio_sensor.trainerMessageTime().cycle();
}
}
return game_status;
}
/*!
main decision
virtual method in super class
*/
void Agent::actionImpl() {
// For now let's not worry about turning the neck or setting the vision.
this->setViewAction(new View_Tactical());
this->setNeckAction(new Neck_TurnToBallOrScan());
if (!client_connected) {
listenForConnection();
return;
}
// Update and send the game status
status_t game_status = getGameStatus(audioSensor(), lastTrainerMessageTime);
if (send(newsockfd, &game_status, sizeof(int), 0) < 0) {
perror("[Agent Server] ERROR sending from socket");
close(sockfd);
exit(1);
}
// Update and send the state features
const std::vector<float>& features =
feature_extractor->ExtractFeatures(this->world());
#ifdef ELOG
if (config().record()) {
elog.addText(Logger::WORLD, "GameStatus %d", game_status);
elog.flush();
feature_extractor->LogFeatures();
}
#endif
if (send(newsockfd, &(features.front()),
features.size() * sizeof(float), 0) < 0) {
perror("[Agent Server] ERROR sending state features from socket");
exit(1);
}
// Get the action type
action_t action;
if (recv(newsockfd, &action, sizeof(action_t), 0) < 0) {
perror("[Agent Server] ERROR recv from socket");
close(sockfd);
exit(1);
}
// Get the parameters for that action
int n_args = HFOEnvironment::NumParams(action);
float params[n_args];
if (n_args > 0) {
if (recv(newsockfd, ¶ms, sizeof(float)*n_args, 0) < 0) {
perror("[Agent Server] ERROR recv from socket");
close(sockfd);
exit(1);
}
}
if (action == SHOOT) {
const ShootGenerator::Container & cont =
ShootGenerator::instance().courses(this->world(), false);
ShootGenerator::Container::const_iterator best_shoot
= std::min_element(cont.begin(), cont.end(), ShootGenerator::ScoreCmp());
Body_SmartKick(best_shoot->target_point_, best_shoot->first_ball_speed_,
best_shoot->first_ball_speed_ * 0.99, 3).execute(this);
} else if (action == PASS) {
Force_Pass pass;
int receiver = int(params[0]);
pass.get_pass_to_player(this->world(), receiver);
pass.execute(this);
}
switch(action) {
case DASH:
this->doDash(params[0], params[1]);
break;
case TURN:
this->doTurn(params[0]);
break;
case TACKLE:
this->doTackle(params[0], false);
break;
case KICK:
this->doKick(params[0], params[1]);
break;
case KICK_TO:
Body_SmartKick(Vector2D(feature_extractor->absoluteXPos(params[0]),
feature_extractor->absoluteYPos(params[1])),
params[2], params[2] * 0.99, 3).execute(this);
break;
case MOVE_TO:
Body_GoToPoint(Vector2D(feature_extractor->absoluteXPos(params[0]),
feature_extractor->absoluteYPos(params[1])), 0.25,
ServerParam::i().maxDashPower()).execute(this);
break;
case DRIBBLE_TO:
Body_Dribble(Vector2D(feature_extractor->absoluteXPos(params[0]),
feature_extractor->absoluteYPos(params[1])), 1.0,
ServerParam::i().maxDashPower(), 2).execute(this);
break;
case INTERCEPT:
Body_Intercept().execute(this);
break;
case MOVE:
this->doMove();
break;
case SHOOT:
break;
case PASS:
break;
case DRIBBLE:
this->doDribble();
break;
case NOOP:
break;
case QUIT:
std::cout << "[Agent Server] Got quit from agent." << std::endl;
close(sockfd);
exit(0);
default:
std::cerr << "[Agent Server] ERROR Unsupported Action: "
<< action << std::endl;
close(sockfd);
exit(1);
}
}
/*-------------------------------------------------------------------*/
/*!
*/
void
Agent::handleActionStart()
{
}
/*-------------------------------------------------------------------*/
/*!
*/
void
Agent::handleActionEnd()
{
if ( world().self().posValid() )
{
#if 0
const ServerParam & SP = ServerParam::i();
//
// inside of pitch
//
// top,lower
debugClient().addLine( Vector2D( world().ourOffenseLineX(),
-SP.pitchHalfWidth() ),
Vector2D( world().ourOffenseLineX(),
-SP.pitchHalfWidth() + 3.0 ) );
// top,lower
debugClient().addLine( Vector2D( world().ourDefenseLineX(),
-SP.pitchHalfWidth() ),
Vector2D( world().ourDefenseLineX(),
-SP.pitchHalfWidth() + 3.0 ) );
// bottom,upper
debugClient().addLine( Vector2D( world().theirOffenseLineX(),
+SP.pitchHalfWidth() - 3.0 ),
Vector2D( world().theirOffenseLineX(),
+SP.pitchHalfWidth() ) );
//
debugClient().addLine( Vector2D( world().offsideLineX(),
world().self().pos().y - 15.0 ),
Vector2D( world().offsideLineX(),
world().self().pos().y + 15.0 ) );
// outside of pitch
// top,upper
debugClient().addLine( Vector2D( world().ourOffensePlayerLineX(),
-SP.pitchHalfWidth() - 3.0 ),
Vector2D( world().ourOffensePlayerLineX(),
-SP.pitchHalfWidth() ) );
// top,upper
debugClient().addLine( Vector2D( world().ourDefensePlayerLineX(),
-SP.pitchHalfWidth() - 3.0 ),
Vector2D( world().ourDefensePlayerLineX(),
-SP.pitchHalfWidth() ) );
// bottom,lower
debugClient().addLine( Vector2D( world().theirOffensePlayerLineX(),
+SP.pitchHalfWidth() ),
Vector2D( world().theirOffensePlayerLineX(),
+SP.pitchHalfWidth() + 3.0 ) );
// bottom,lower
debugClient().addLine( Vector2D( world().theirDefensePlayerLineX(),
+SP.pitchHalfWidth() ),
Vector2D( world().theirDefensePlayerLineX(),
+SP.pitchHalfWidth() + 3.0 ) );
#else
// top,lower
debugClient().addLine( Vector2D( world().ourDefenseLineX(),
world().self().pos().y - 2.0 ),
Vector2D( world().ourDefenseLineX(),
world().self().pos().y + 2.0 ) );
//
debugClient().addLine( Vector2D( world().offsideLineX(),
world().self().pos().y - 15.0 ),
Vector2D( world().offsideLineX(),
world().self().pos().y + 15.0 ) );
#endif
}
//
// ball position & velocity
//
dlog.addText( Logger::WORLD,
"WM: BALL pos=(%lf, %lf), vel=(%lf, %lf, r=%lf, ang=%lf)",
world().ball().pos().x,
world().ball().pos().y,
world().ball().vel().x,
world().ball().vel().y,
world().ball().vel().r(),
world().ball().vel().th().degree() );
dlog.addText( Logger::WORLD,
"WM: SELF move=(%lf, %lf, r=%lf, th=%lf)",
world().self().lastMove().x,
world().self().lastMove().y,
world().self().lastMove().r(),
world().self().lastMove().th().degree() );
Vector2D diff = world().ball().rpos() - world().ball().rposPrev();
dlog.addText( Logger::WORLD,
"WM: BALL rpos=(%lf %lf) prev_rpos=(%lf %lf) diff=(%lf %lf)",
world().ball().rpos().x,
world().ball().rpos().y,
world().ball().rposPrev().x,
world().ball().rposPrev().y,
diff.x,
diff.y );
Vector2D ball_move = diff + world().self().lastMove();
Vector2D diff_vel = ball_move * ServerParam::i().ballDecay();
dlog.addText( Logger::WORLD,
"---> ball_move=(%lf %lf) vel=(%lf, %lf, r=%lf, th=%lf)",
ball_move.x,
ball_move.y,
diff_vel.x,
diff_vel.y,
diff_vel.r(),
diff_vel.th().degree() );
}
/*-------------------------------------------------------------------*/
/*!
*/
void
Agent::handleServerParam()
{
if ( KickTable::instance().createTables() )
{
std::cerr << world().teamName() << ' '
<< world().self().unum() << ": "
<< " KickTable created."
<< std::endl;
}
else
{
std::cerr << world().teamName() << ' '
<< world().self().unum() << ": "
<< " KickTable failed..."
<< std::endl;
M_client->setServerAlive( false );
}
if ( ServerParam::i().keepawayMode() )
{
std::cerr << "set Keepaway mode communication." << std::endl;
M_communication = Communication::Ptr( new KeepawayCommunication() );
}
}
/*-------------------------------------------------------------------*/
/*!
*/
void
Agent::handlePlayerParam()
{
}
/*-------------------------------------------------------------------*/
/*!
*/
void
Agent::handlePlayerType()
{
}
/*-------------------------------------------------------------------*/
/*!
communication decision.
virtual method in super class
*/
void
Agent::communicationImpl()
{
if ( M_communication )
{
M_communication->execute( this );
}
}
/*-------------------------------------------------------------------*/
/*!
*/
bool
Agent::doPreprocess()
{
// check tackle expires
// check self position accuracy
// ball search
// check queued intention
// check simultaneous kick
const WorldModel & wm = this->world();
dlog.addText( Logger::TEAM,
__FILE__": (doPreProcess)" );
//
// freezed by tackle effect
//
if ( wm.self().isFrozen() )
{
dlog.addText( Logger::TEAM,
__FILE__": tackle wait. expires= %d",
wm.self().tackleExpires() );
// face neck to ball
this->setViewAction( new View_Tactical() );
this->setNeckAction( new Neck_TurnToBallOrScan() );
return true;
}
//
// BeforeKickOff or AfterGoal. jump to the initial position
//
if ( wm.gameMode().type() == GameMode::BeforeKickOff
|| wm.gameMode().type() == GameMode::AfterGoal_ )
{
dlog.addText( Logger::TEAM,
__FILE__": before_kick_off" );
Vector2D move_point = Strategy::i().getPosition( wm.self().unum() );
Bhv_CustomBeforeKickOff( move_point ).execute( this );
this->setViewAction( new View_Tactical() );
return true;
}
//
// self localization error
//
if ( ! wm.self().posValid() )
{
dlog.addText( Logger::TEAM,
__FILE__": invalid my pos" );
Bhv_Emergency().execute( this ); // includes change view
return true;
}
//
// ball localization error
//
const int count_thr = ( wm.self().goalie()
? 10
: 5 );
if ( wm.ball().posCount() > count_thr
|| ( wm.gameMode().type() != GameMode::PlayOn
&& wm.ball().seenPosCount() > count_thr + 10 ) )
{
dlog.addText( Logger::TEAM,
__FILE__": search ball" );
this->setViewAction( new View_Tactical() );
Bhv_NeckBodyToBall().execute( this );
return true;
}
//
// set default change view
//
this->setViewAction( new View_Tactical() );
//
// check shoot chance
//
if ( doShoot() )
{
return true;
}
//
// check queued action
//
if ( this->doIntention() )
{
dlog.addText( Logger::TEAM,
__FILE__": do queued intention" );
return true;
}
//
// check simultaneous kick
//
if ( doForceKick() )
{
return true;
}
//
// check pass message
//
if ( doHeardPassReceive() )
{
return true;
}
return false;
}
/*-------------------------------------------------------------------*/
/*!
*/
bool
Agent::doShoot()
{
const WorldModel & wm = this->world();
if ( wm.gameMode().type() != GameMode::IndFreeKick_
&& wm.time().stopped() == 0
&& wm.self().isKickable()
&& Bhv_StrictCheckShoot().execute( this ) )
{
dlog.addText( Logger::TEAM,
__FILE__": shooted" );
// reset intention
this->setIntention( static_cast< SoccerIntention * >( 0 ) );
return true;
}
return false;
}
/*-------------------------------------------------------------------*/
/*!
*/
bool
Agent::doPass()
{
rcsc::Body_Pass pass;
pass.get_best_pass(this->world(), NULL, NULL, NULL);
pass.execute(this);
return true;
}
/*-------------------------------------------------------------------*/
/*!
*/
bool
Agent::doDribble()
{
Strategy::instance().update( world() );
M_field_evaluator = createFieldEvaluator();
CompositeActionGenerator * g = new CompositeActionGenerator();
g->addGenerator(new ActGen_MaxActionChainLengthFilter(new ActGen_ShortDribble(), 1));
M_action_generator = ActionGenerator::ConstPtr(g);
ActionChainHolder::instance().setFieldEvaluator( M_field_evaluator );
ActionChainHolder::instance().setActionGenerator( M_action_generator );
doPreprocess();
ActionChainHolder::instance().update( world() );
Bhv_ChainAction(ActionChainHolder::instance().graph()).execute(this);
return true;
}
/*-------------------------------------------------------------------*/
/*!
*/
bool
Agent::doMove()
{
Strategy::instance().update( world() );
int role_num = Strategy::i().roleNumber(world().self().unum());
Bhv_BasicMove().execute(this);
return true;
}
/*-------------------------------------------------------------------*/
/*!
*/
bool
Agent::doForceKick()
{
const WorldModel & wm = this->world();
if ( wm.gameMode().type() == GameMode::PlayOn
&& ! wm.self().goalie()
&& wm.self().isKickable()
&& wm.existKickableOpponent() )
{
dlog.addText( Logger::TEAM,
__FILE__": simultaneous kick" );
this->debugClient().addMessage( "SimultaneousKick" );
Vector2D goal_pos( ServerParam::i().pitchHalfLength(), 0.0 );
if ( wm.self().pos().x > 36.0
&& wm.self().pos().absY() > 10.0 )
{
goal_pos.x = 45.0;
dlog.addText( Logger::TEAM,
__FILE__": simultaneous kick cross type" );
}
Body_KickOneStep( goal_pos,
ServerParam::i().ballSpeedMax()
).execute( this );
this->setNeckAction( new Neck_ScanField() );
return true;
}
return false;
}
/*-------------------------------------------------------------------*/
/*!
*/
bool
Agent::doHeardPassReceive()
{
const WorldModel & wm = this->world();
if ( wm.audioMemory().passTime() != wm.time()
|| wm.audioMemory().pass().empty()
|| wm.audioMemory().pass().front().receiver_ != wm.self().unum() )
{
return false;
}
int self_min = wm.interceptTable()->selfReachCycle();
Vector2D intercept_pos = wm.ball().inertiaPoint( self_min );
Vector2D heard_pos = wm.audioMemory().pass().front().receive_pos_;
dlog.addText( Logger::TEAM,
__FILE__": (doHeardPassReceive) heard_pos(%.2f %.2f) intercept_pos(%.2f %.2f)",
heard_pos.x, heard_pos.y,
intercept_pos.x, intercept_pos.y );
if ( ! wm.existKickableTeammate()
&& wm.ball().posCount() <= 1
&& wm.ball().velCount() <= 1
&& self_min < 20
//&& intercept_pos.dist( heard_pos ) < 3.0 ) //5.0 )
)
{
dlog.addText( Logger::TEAM,
__FILE__": (doHeardPassReceive) intercept cycle=%d. intercept",
self_min );
this->debugClient().addMessage( "Comm:Receive:Intercept" );
Body_Intercept().execute( this );
this->setNeckAction( new Neck_TurnToBall() );
}
else
{
dlog.addText( Logger::TEAM,
__FILE__": (doHeardPassReceive) intercept cycle=%d. go to receive point",
self_min );
this->debugClient().setTarget( heard_pos );
this->debugClient().addMessage( "Comm:Receive:GoTo" );
Body_GoToPoint( heard_pos,
0.5,
ServerParam::i().maxDashPower()
).execute( this );
this->setNeckAction( new Neck_TurnToBall() );
}
this->setIntention( new IntentionReceive( heard_pos,
ServerParam::i().maxDashPower(),
0.9,
5,
wm.time() ) );
return true;
}
/*-------------------------------------------------------------------*/
/*!
*/
FieldEvaluator::ConstPtr
Agent::getFieldEvaluator() const
{
return M_field_evaluator;
}
/*-------------------------------------------------------------------*/
/*!
*/
FieldEvaluator::ConstPtr
Agent::createFieldEvaluator() const
{
return FieldEvaluator::ConstPtr( new SampleFieldEvaluator );
}
/*-------------------------------------------------------------------*/
/*!
*/
ActionGenerator::ConstPtr
Agent::createActionGenerator() const
{
CompositeActionGenerator * g = new CompositeActionGenerator();
//
// shoot
//
g->addGenerator( new ActGen_RangeActionChainLengthFilter
( new ActGen_Shoot(),
2, ActGen_RangeActionChainLengthFilter::MAX ) );
//
// strict check pass
//
g->addGenerator( new ActGen_MaxActionChainLengthFilter
( new ActGen_StrictCheckPass(), 1 ) );
//
// cross
//
g->addGenerator( new ActGen_MaxActionChainLengthFilter
( new ActGen_Cross(), 1 ) );
//
// direct pass
//
// g->addGenerator( new ActGen_RangeActionChainLengthFilter
// ( new ActGen_DirectPass(),
// 2, ActGen_RangeActionChainLengthFilter::MAX ) );
//
// short dribble
//
g->addGenerator( new ActGen_MaxActionChainLengthFilter
( new ActGen_ShortDribble(), 1 ) );
//
// self pass (long dribble)
//
g->addGenerator( new ActGen_MaxActionChainLengthFilter
( new ActGen_SelfPass(), 1 ) );
//
// simple dribble
//
// g->addGenerator( new ActGen_RangeActionChainLengthFilter
// ( new ActGen_SimpleDribble(),
// 2, ActGen_RangeActionChainLengthFilter::MAX ) );
return ActionGenerator::ConstPtr( g );
}