agent.cpp 32.6 KB
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, &params, 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 );
}