Commit 85a0d4aa authored by drallensmith's avatar drallensmith

Revise feedback with enum, use of ACTION_STATUS_UNKNOWN when appropriate

parent 2be132c1
No preview for this file type
...@@ -622,13 +622,13 @@ Team. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N & ...@@ -622,13 +622,13 @@ Team. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N &
Opponent loc invalid & Y & Y & Y & Y & Y & Y & Y? & Y & N & Y? & Y & Y? & Y & Y & Y & Y & N \\ Opponent loc invalid & Y & Y & Y & Y & Y & Y & Y? & Y & N & Y? & Y & Y? & Y & Y & Y & Y & N \\
Opp. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N \\ Opp. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N \\
\hline \hline
Ball kickable & Y & Y & Y & Y & Y & Y & Y & ? & * & Y & Y & Y & Y & ? & ? & ? & Y \\ Ball kickable & Y & Y & Y & Y & Y & Y & Y & N & * & Y & Y & Y & Y & ? & ? & N & Y \\
Ball not kickable & Y & Y & Y & N & N & Y & Y & Y & Y & N & N & N & Y & Y & Y & Y & Y \\ Ball not kickable & Y & Y & Y & N & N & Y & Y & Y & Y & N & N & N & Y & Y & Y & Y & Y \\
\hline \hline
Frozen & N & N & N & N & N & N & N? & N & N? & N & N & Y & N? & N & N & N & N \\ Frozen & N & N & N & N & N & N & N? & N & N? & N & N & Y & N? & N & N & N & N \\
Colliding w/ball & Y & Y & ? & ? & ? & Y? & ? & ? & ? & ? & ? & ? & ? & ? & ? & ? & ? \\ Colliding w/ball & Y & Y & ? & N & Y & Y & Y & Y & ? & ? & ? & ? & ? & ? & ? & N & ? \\
Colliding w/player & Y & Y? & ? & N? & N? & Y? & ? & Y? & ? & ? & ? & Y? & ? & ? & ? & Y? & ? \\ Colliding w/player & Y & Y? & ? & N? & N? & Y? & ? & Y? & ? & ? & ? & Y? & ? & ? & ? & Y? & ? \\
Colliding w/post & Y & Y & N? & N? & N? & Y & ? & Y & ? & ? & ? & ? & ? & ? & ? & Y & ? \\ Colliding w/post & Y & Y & N? & N? & N? & Y & Y & Y & Y & ? & ? & Y & ? & Y & Y & Y & Y \\
\hline \hline
Offense & Y & Y & N & Y & Y & Y & Y & Y & Y & Y & Y & Y & N & N & N & Y & N \\ Offense & Y & Y & N & Y & Y & Y & Y & Y & Y & Y & Y & Y & N & N & N & Y & N \\
Defense, not goalie & Y & Y & Y & N? & N? & Y & N & Y & Y & N & N & N & N & Y & ? & Y & Y \\ Defense, not goalie & Y & Y & Y & N? & N? & Y & N & Y & Y & N & N & N & N & Y & ? & Y & Y \\
......
...@@ -284,7 +284,7 @@ def get_abs_x_y_pos(abs_angle, dist, self_x_pos, self_y_pos, warn=True, of_what= ...@@ -284,7 +284,7 @@ def get_abs_x_y_pos(abs_angle, dist, self_x_pos, self_y_pos, warn=True, of_what=
if dist < 10: if dist < 10:
raise RuntimeError("\n".join(error_strings)) raise RuntimeError("\n".join(error_strings))
else: else:
if warn or (dist < 60): if warn or (dist < 50):
print("\n".join(error_strings), file=sys.stderr) print("\n".join(error_strings), file=sys.stderr)
sys.stderr.flush() sys.stderr.flush()
return (None, None) return (None, None)
...@@ -641,9 +641,36 @@ def evaluate_previous_action(hfo_env, ...@@ -641,9 +641,36 @@ def evaluate_previous_action(hfo_env,
action_status_observed = hfo.ACTION_STATUS_UNKNOWN # NOTE: Check intent + other bitflags! action_status_observed = hfo.ACTION_STATUS_UNKNOWN # NOTE: Check intent + other bitflags!
if namespace.action == hfo.DASH: if namespace.action == hfo.DASH:
pass # TODO if (namespace.intent !=
INTENT_GOAL_COLLISION) and namespace.prestate_bit_list[3] and (not bit_list[3]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent !=
INTENT_BALL_COLLISION) and namespace.prestate_bit_list[2] and (not bit_list[2]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_BALL_KICKABLE) and (not namespace.prestate_bit_list[4]) and bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_GOAL_COLLISION) and (not namespace.prestate_bit_list[3]) and bit_list[3]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_BALL_COLLISION) and (((not namespace.prestate_bit_list[2]) and bit_list[2]) or
((not namespace.prestate_bit_list[4]) and bit_list[4])):
action_status_observed = hfo.ACTION_STATUS_MAYBE
else:
pass # TODO
elif namespace.action == hfo.TURN: elif namespace.action == hfo.TURN:
if (namespace.prestate_self_dict['body_angle'] is not None) and (self_dict['body_angle'] is not None): if (namespace.intent !=
INTENT_GOAL_COLLISION) and namespace.prestate_bit_list[3] and (not bit_list[3]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent !=
INTENT_BALL_COLLISION) and namespace.prestate_bit_list[2] and (not bit_list[2]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_BALL_KICKABLE) and (not namespace.prestate_bit_list[4]) and bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_GOAL_COLLISION) and (not namespace.prestate_bit_list[3]) and bit_list[3]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_BALL_COLLISION) and (((not namespace.prestate_bit_list[2]) and bit_list[2]) or
((not namespace.prestate_bit_list[4]) and bit_list[4])):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.prestate_self_dict['body_angle'] is not None) and (self_dict['body_angle'] is not None):
intended_body_angle = namespace.prestate_self_dict['body_angle'] + namespace.action_params[0] intended_body_angle = namespace.prestate_self_dict['body_angle'] + namespace.action_params[0]
if get_angle_diff(namespace.prestate_self_dict['body_angle'], if get_angle_diff(namespace.prestate_self_dict['body_angle'],
intended_body_angle) > get_angle_diff(self_dict['body_angle'], intended_body_angle) > get_angle_diff(self_dict['body_angle'],
...@@ -652,7 +679,15 @@ def evaluate_previous_action(hfo_env, ...@@ -652,7 +679,15 @@ def evaluate_previous_action(hfo_env,
else: else:
action_status_observed = hfo.ACTION_STATUS_BAD action_status_observed = hfo.ACTION_STATUS_BAD
elif namespace.action == hfo.KICK: elif namespace.action == hfo.KICK:
pass # TODO if bit_list[4]:
if namespace.prestate_bit_list[2] and (not bit_list[2]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[3] and (not bit_list[3]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
else:
action_status_observed = hfo.ACTION_STATUS_BAD
else:
pass # TODO
elif namespace.action == hfo.KICK_TO: elif namespace.action == hfo.KICK_TO:
if (namespace.prestate_ball_dict['x_pos'] is not None) and (ball_dict['x_pos'] is not None): if (namespace.prestate_ball_dict['x_pos'] is not None) and (ball_dict['x_pos'] is not None):
dist_before = get_dist_real(namespace.prestate_ball_dict['x_pos'], dist_before = get_dist_real(namespace.prestate_ball_dict['x_pos'],
...@@ -665,10 +700,30 @@ def evaluate_previous_action(hfo_env, ...@@ -665,10 +700,30 @@ def evaluate_previous_action(hfo_env,
namespace.action_params[1]) namespace.action_params[1])
if dist_before > dist_after: if dist_before > dist_after:
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif bit_list[4]:
if namespace.prestate_bit_list[2] and (not bit_list[2]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[3] and (not bit_list[3]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
else:
action_status_observed = hfo.ACTION_STATUS_BAD
else: else:
action_status_observed = hfo.ACTION_STATUS_BAD action_status_observed = hfo.ACTION_STATUS_BAD
elif namespace.action == hfo.MOVE_TO: elif namespace.action == hfo.MOVE_TO:
if (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None): if (namespace.intent !=
INTENT_GOAL_COLLISION) and namespace.prestate_bit_list[3] and (not bit_list[3]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent !=
INTENT_BALL_COLLISION) and namespace.prestate_bit_list[2] and (not bit_list[2]):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_BALL_KICKABLE) and (not namespace.prestate_bit_list[4]) and bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_GOAL_COLLISION) and (not namespace.prestate_bit_list[3]) and bit_list[3]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_BALL_COLLISION) and (((not namespace.prestate_bit_list[2]) and bit_list[2]) or
((not namespace.prestate_bit_list[4]) and bit_list[4])):
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None):
dist_before = get_dist_real(namespace.prestate_self_dict['x_pos'], dist_before = get_dist_real(namespace.prestate_self_dict['x_pos'],
namespace.prestate_self_dict['y_pos'], namespace.prestate_self_dict['y_pos'],
namespace.action_params[0], namespace.action_params[0],
...@@ -685,6 +740,10 @@ def evaluate_previous_action(hfo_env, ...@@ -685,6 +740,10 @@ def evaluate_previous_action(hfo_env,
if namespace.prestate_bit_list[4]: if namespace.prestate_bit_list[4]:
if not bit_list[4]: if not bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_BAD action_status_observed = hfo.ACTION_STATUS_BAD
elif namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[2] and (not bit_list[2]): # ball collision
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None): elif (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None):
dist_before = get_dist_real(namespace.prestate_self_dict['x_pos'], dist_before = get_dist_real(namespace.prestate_self_dict['x_pos'],
namespace.prestate_self_dict['y_pos'], namespace.prestate_self_dict['y_pos'],
...@@ -700,6 +759,10 @@ def evaluate_previous_action(hfo_env, ...@@ -700,6 +759,10 @@ def evaluate_previous_action(hfo_env,
action_status_observed = hfo.ACTION_STATUS_BAD action_status_observed = hfo.ACTION_STATUS_BAD
elif bit_list[4]: elif bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[2] and (not bit_list[2]): # ball collision
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] > ball_dict['dist']: elif namespace.prestate_ball_dict['dist'] > ball_dict['dist']:
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] < ball_dict['dist']: elif namespace.prestate_ball_dict['dist'] < ball_dict['dist']:
...@@ -709,11 +772,20 @@ def evaluate_previous_action(hfo_env, ...@@ -709,11 +772,20 @@ def evaluate_previous_action(hfo_env,
elif (namespace.action == hfo.INTERCEPT) or (namespace.action == hfo.GO_TO_BALL): elif (namespace.action == hfo.INTERCEPT) or (namespace.action == hfo.GO_TO_BALL):
if namespace.prestate_bit_list[4]: if namespace.prestate_bit_list[4]:
if bit_list[4]: if bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE if (namespace.intent != INTENT_BALL_COLLISION) and bit_list[2]:
action_status_observed = hfo.ACTION_STATUS_BAD
elif (namespace.intent != INTENT_GOAL_COLLISION) and bit_list[3]:
action_status_observed = hfo.ACTION_STATUS_BAD
else:
action_status_observed = hfo.ACTION_STATUS_MAYBE
else: else:
action_status_observed = hfo.ACTION_STATUS_BAD action_status_observed = hfo.ACTION_STATUS_BAD
elif bit_list[4]: elif bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.intent == INTENT_BALL_COLLISION) and (not namespace.prestate_bit_list[2]) and bit_list[2]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] > ball_dict['dist']: elif namespace.prestate_ball_dict['dist'] > ball_dict['dist']:
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] < ball_dict['dist']: elif namespace.prestate_ball_dict['dist'] < ball_dict['dist']:
...@@ -759,16 +831,18 @@ def evaluate_previous_action(hfo_env, ...@@ -759,16 +831,18 @@ def evaluate_previous_action(hfo_env,
namespace.struct_tried[pack_action_bit_list(namespace.action,namespace.prestate_bit_list)] += 1 namespace.struct_tried[pack_action_bit_list(namespace.action,namespace.prestate_bit_list)] += 1
# further analysis... # further analysis...
# further analysis... if action_status_guessed == hfo.ACTION_STATUS_MAYBE:
if namespace.prestate_bit_list[3] and (namespace.action in (hfo.DASH, hfo.MOVE_TO)) and (action_status_guessed == hfo.ACTION_STATUS_MAYBE): # further analysis...
print("OK status from {0!s} despite goal collision in prestate (poststate: {1!s})".format( if namespace.prestate_bit_list[3] and (namespace.action in (hfo.KICK, hfo.KICK_TO)):
action_string, bit_list[3])) print("OK status from {0!s} despite goal collision in prestate (poststate: {1!s})".format(
sys.stdout.flush() action_string, bit_list[3]))
sys.stdout.flush()
if namespace.prestate_bit_list[2] and (namespace.action in (hfo.DASH, hfo.TURN, hfo.MOVE_TO)) and (action_status_guessed == hfo.ACTION_STATUS_MAYBE):
print("OK status from {0!s} despite ball collision in prestate (poststate: {1!s})".format( if namespace.prestate_bit_list[2] and (namespace.action in (hfo.KICK, hfo.MOVE_TO,
action_string, bit_list[2])) hfo.GO_TO_BALL)):
sys.stdout.flush() print("OK status from {0!s} despite ball collision in prestate (poststate: {1!s})".format(
action_string, bit_list[2]))
sys.stdout.flush()
def save_action_prestate(action, def save_action_prestate(action,
prestate_bit_list, prestate_bit_list,
...@@ -886,6 +960,8 @@ def do_intent(hfo_env, ...@@ -886,6 +960,8 @@ def do_intent(hfo_env,
poss_actions_list.append(hfo.TURN) poss_actions_list.append(hfo.TURN)
if abs(ball_rel_angle) < 1.0: if abs(ball_rel_angle) < 1.0:
poss_actions_list.append(hfo.DASH) poss_actions_list.append(hfo.DASH)
if bit_list[0] and (ball_dict['x_pos'] is not None):
poss_actions_list.append(hfo.MOVE_TO)
action = determine_which_action(poss_actions_list, namespace, bit_list) action = determine_which_action(poss_actions_list, namespace, bit_list)
...@@ -899,6 +975,11 @@ def do_intent(hfo_env, ...@@ -899,6 +975,11 @@ def do_intent(hfo_env,
hfo_env.act(*save_action_prestate(action=hfo.DASH, hfo_env.act(*save_action_prestate(action=hfo.DASH,
action_params=[80, ball_rel_angle], action_params=[80, ball_rel_angle],
**prestate_dict)) **prestate_dict))
elif action == hfo.MOVE_TO:
hfo_env.act(*save_action_prestate(action=hfo.MOVE_TO,
action_params=[ball_dict['x_pos'],
ball_dict['y_pos']],
**prestate_dict))
else: else:
raise RuntimeError("Unknown action {0!r}".format(action)) raise RuntimeError("Unknown action {0!r}".format(action))
...@@ -1023,13 +1104,15 @@ def do_next_action(hfo_env, ...@@ -1023,13 +1104,15 @@ def do_next_action(hfo_env,
# figure out what to do next # figure out what to do next
if not (bit_list[2] or bit_list[3] or bit_list[4]): if not (bit_list[2] or bit_list[3]):
poss_intent_set = set([INTENT_BALL_KICKABLE,INTENT_BALL_COLLISION,INTENT_GOAL_COLLISION]) poss_intent_set = set([INTENT_BALL_KICKABLE,INTENT_BALL_COLLISION,INTENT_GOAL_COLLISION])
if not bit_list[5]: if not bit_list[5]:
poss_intent_set.remove(INTENT_BALL_KICKABLE) poss_intent_set.remove(INTENT_BALL_KICKABLE)
poss_intent_set.remove(INTENT_BALL_COLLISION) poss_intent_set.remove(INTENT_BALL_COLLISION)
if not bit_list[0]: if not bit_list[0]:
poss_intent_set.remove(INTENT_GOAL_COLLISION) poss_intent_set.remove(INTENT_GOAL_COLLISION)
if bit_list[4]:
poss_intent_set.remove(INTENT_BALL_KICKABLE)
if not poss_intent_set: if not poss_intent_set:
raise NotImplementedError("Not yet set up for self+ball location invalid") raise NotImplementedError("Not yet set up for self+ball location invalid")
...@@ -1044,14 +1127,22 @@ def do_next_action(hfo_env, ...@@ -1044,14 +1127,22 @@ def do_next_action(hfo_env,
return do_intent(hfo_env, state, namespace) return do_intent(hfo_env, state, namespace)
elif bit_list[4]: # kickable ## elif bit_list[4]: # kickable
actions_want_check = set([hfo.INTERCEPT, hfo.GO_TO_BALL]) ## actions_want_check = set([hfo.INTERCEPT, hfo.GO_TO_BALL])
if bit_list[2] or bit_list[3]: ## if bit_list[2] or bit_list[3]:
actions_want_check |= set([hfo.KICK, hfo.KICK_TO]) ## actions_want_check |= set([hfo.KICK, hfo.KICK_TO])
else: # colliding elif bit_list[2]: # colliding with ball
actions_want_check = set([hfo.DASH, hfo.TURN, hfo.KICK, hfo.KICK_TO, actions_want_check = set([hfo.GO_TO_BALL])
hfo.MOVE_TO, hfo.DRIBBLE_TO, hfo.INTERCEPT, if bit_list[3]: # colliding with goal
hfo.GO_TO_BALL]) actions_want_check |= set([hfo.KICK, hfo.KICK_TO, hfo.DRIBBLE_TO])
else: # colliding with goal
actions_want_check = set([hfo.KICK, hfo.KICK_TO, hfo.DRIBBLE_TO])
if prior_intent is not None:
print("INTENT: WAS {}".format(INTENT_DICT[prior_intent]))
else:
print("INTENT: NONE")
sys.stdout.flush()
if bit_list[4] and (prior_intent not in (None, INTENT_BALL_KICKABLE)): if bit_list[4] and (prior_intent not in (None, INTENT_BALL_KICKABLE)):
namespace.intent_done[INTENT_BALL_KICKABLE] += 1 namespace.intent_done[INTENT_BALL_KICKABLE] += 1
......
...@@ -68,9 +68,6 @@ STATUS_STRINGS = {IN_GAME: "InGame", ...@@ -68,9 +68,6 @@ STATUS_STRINGS = {IN_GAME: "InGame",
OUT_OF_TIME: "OutOfTime", OUT_OF_TIME: "OutOfTime",
SERVER_DOWN: "ServerDown"} SERVER_DOWN: "ServerDown"}
"""Possible sides."""
RIGHT, NEUTRAL, LEFT = list(range(-1,2))
"""Possible action result statuses.""" """Possible action result statuses."""
ACTION_STATUS_UNKNOWN, ACTION_STATUS_BAD, ACTION_STATUS_MAYBE = list(range(-1,2)) ACTION_STATUS_UNKNOWN, ACTION_STATUS_BAD, ACTION_STATUS_MAYBE = list(range(-1,2))
ACTION_STATUS_MAYBE_OK = ACTION_STATUS_MAYBE # typos ACTION_STATUS_MAYBE_OK = ACTION_STATUS_MAYBE # typos
...@@ -78,6 +75,9 @@ ACTION_STATUS_STRINGS = {ACTION_STATUS_UNKNOWN: "Unknown", ...@@ -78,6 +75,9 @@ ACTION_STATUS_STRINGS = {ACTION_STATUS_UNKNOWN: "Unknown",
ACTION_STATUS_BAD: "Bad", ACTION_STATUS_BAD: "Bad",
ACTION_STATUS_MAYBE: "MaybeOK"} ACTION_STATUS_MAYBE: "MaybeOK"}
"""Possible sides."""
RIGHT, NEUTRAL, LEFT = list(range(-1,2))
class Player(Structure): pass class Player(Structure): pass
Player._fields_ = [ Player._fields_ = [
('side', c_int), ('side', c_int),
......
...@@ -123,7 +123,7 @@ int HFOEnvironment::getNumOpponents() { ...@@ -123,7 +123,7 @@ int HFOEnvironment::getNumOpponents() {
return agent->getNumOpponents(); return agent->getNumOpponents();
} }
int HFOEnvironment::getLastActionStatus(action_t last_action) { action_status_t HFOEnvironment::getLastActionStatus(action_t last_action) {
return agent->getLastActionStatus(last_action); return agent->getLastActionStatus(last_action);
} }
......
...@@ -55,7 +55,7 @@ class HFOEnvironment { ...@@ -55,7 +55,7 @@ class HFOEnvironment {
// Returns the number of opponents // Returns the number of opponents
virtual int getNumOpponents(); virtual int getNumOpponents();
virtual int getLastActionStatus(action_t last_action); virtual action_status_t getLastActionStatus(action_t last_action);
// Get the current player holding the ball // Get the current player holding the ball
virtual Player playerOnBall(); virtual Player playerOnBall();
......
...@@ -153,7 +153,7 @@ Agent::Agent() ...@@ -153,7 +153,7 @@ Agent::Agent()
// setup last_action variables // setup last_action variables
last_action_with_status = NOOP; last_action_with_status = NOOP;
last_action_status = -1; last_action_status = ACTION_STATUS_UNKNOWN;
} }
Agent::~Agent() { Agent::~Agent() {
...@@ -166,20 +166,27 @@ int Agent::getUnum() { ...@@ -166,20 +166,27 @@ int Agent::getUnum() {
return world().self().unum(); return world().self().unum();
} }
int Agent::getLastActionStatus(action_t last_action) { action_status_t Agent::getLastActionStatus(action_t last_action) {
if (last_action == last_action_with_status) { if (last_action == last_action_with_status) {
return last_action_status; return last_action_status;
} else { } else {
return -1; return ACTION_STATUS_UNKNOWN;
} }
} }
void Agent::addLastActionStatus(action_t last_action, bool action_status) { void Agent::addLastActionStatus(action_t last_action, action_status_t action_status) {
last_action_with_status = last_action; last_action_with_status = last_action;
if (action_status) { last_action_status = action_status;
last_action_status = 1; }
void Agent::addLastActionStatusCollision(action_t last_action, bool may_fix, bool likely_success) {
last_action_with_status = last_action;
if (likely_success) {
last_action_status = ACTION_STATUS_MAYBE;
} else if (may_fix) {
last_action_status = ACTION_STATUS_UNKNOWN;
} else { } else {
last_action_status = 0; last_action_status = ACTION_STATUS_BAD;
} }
} }
...@@ -268,42 +275,55 @@ void Agent::actionImpl() { ...@@ -268,42 +275,55 @@ void Agent::actionImpl() {
<< " parameters, given " << params.size() << std::endl; << " parameters, given " << params.size() << std::endl;
exit(1); exit(1);
} }
// For now let's not worry about turning the neck or setting the vision.
// But do the settings now, so that doesn't override any set by the actions below.
// TODO: Add setViewActionDefault, setNeckActionDefault to librcsc that only set if not already set.
this->setViewAction(new View_Tactical());
this->setNeckAction(new Neck_TurnToBallOrScan());
const WorldModel & wm = this->world();
bool may_fix = wm.self().collidesWithPost();
switch(requested_action) { switch(requested_action) {
case DASH: case DASH:
addLastActionStatus(DASH, this->doDash(params[0], params[1])); addLastActionStatusCollision(DASH, may_fix, this->doDash(params[0], params[1]));
break; break;
case TURN: case TURN:
addLastActionStatus(TURN, this->doTurn(params[0])); addLastActionStatusCollision(TURN, may_fix, this->doTurn(params[0]));
break; break;
case TACKLE: case TACKLE:
addLastActionStatus(TACKLE, this->doTackle(params[0], false)); addLastActionStatus(TACKLE, BooleanToActionStatus(this->doTackle(params[0], false)));
break; break;
case KICK: case KICK:
addLastActionStatus(KICK, this->doKick(params[0], params[1])); addLastActionStatus(KICK, BooleanToActionStatus(this->doKick(params[0], params[1])));
break; break;
case KICK_TO: case KICK_TO:
if (feature_extractor != NULL) { if (feature_extractor != NULL) {
addLastActionStatus(KICK_TO, Body_SmartKick(Vector2D(feature_extractor->absoluteXPos(params[0]), addLastActionStatus(KICK_TO,
feature_extractor->absoluteYPos(params[1])), BooleanToActionStatus(Body_SmartKick(Vector2D(feature_extractor->absoluteXPos(params[0]),
params[2], params[2] * 0.99, 3).execute(this)); feature_extractor->absoluteYPos(params[1])),
params[2], params[2] * 0.99, 3).execute(this)));
} }
break; break;
case MOVE_TO: case MOVE_TO:
if (feature_extractor != NULL) { if (feature_extractor != NULL) {
addLastActionStatus(MOVE_TO, Body_GoToPoint(Vector2D(feature_extractor->absoluteXPos(params[0]), addLastActionStatusCollision(MOVE_TO, may_fix,
feature_extractor->absoluteYPos(params[1])), 0.25, Body_GoToPoint(Vector2D(feature_extractor->absoluteXPos(params[0]),
ServerParam::i().maxDashPower()).execute(this)); feature_extractor->absoluteYPos(params[1])), 0.25,
ServerParam::i().maxDashPower()).execute(this));
} }
break; break;
case DRIBBLE_TO: case DRIBBLE_TO:
if (feature_extractor != NULL) { if (feature_extractor != NULL) {
addLastActionStatus(DRIBBLE_TO, Body_Dribble(Vector2D(feature_extractor->absoluteXPos(params[0]), addLastActionStatusCollision(DRIBBLE_TO, may_fix,
feature_extractor->absoluteYPos(params[1])), 1.0, Body_Dribble(Vector2D(feature_extractor->absoluteXPos(params[0]),
ServerParam::i().maxDashPower(), 2).execute(this)); feature_extractor->absoluteYPos(params[1])), 1.0,
ServerParam::i().maxDashPower(), 2).execute(this));
} }
break; break;
case INTERCEPT: case INTERCEPT:
addLastActionStatus(INTERCEPT, Body_Intercept().execute(this)); addLastActionStatusCollision(INTERCEPT, may_fix, Body_Intercept().execute(this));
break; break;
case MOVE: case MOVE:
addLastActionStatus(MOVE, this->doMove()); addLastActionStatus(MOVE, this->doMove());
...@@ -318,7 +338,7 @@ void Agent::actionImpl() { ...@@ -318,7 +338,7 @@ void Agent::actionImpl() {
addLastActionStatus(DRIBBLE, this->doDribble()); addLastActionStatus(DRIBBLE, this->doDribble());
break; break;
case CATCH: case CATCH:
addLastActionStatus(CATCH, this->doCatch()); addLastActionStatus(CATCH, BooleanToActionStatus(this->doCatch()));
break; break;
case NOOP: case NOOP:
break; break;
...@@ -343,9 +363,7 @@ void Agent::actionImpl() { ...@@ -343,9 +363,7 @@ void Agent::actionImpl() {
<< requested_action << std::endl; << requested_action << std::endl;
exit(1); exit(1);
} }
// For now let's not worry about turning the neck or setting the vision.
this->setViewAction(new View_Tactical());
this->setNeckAction(new Neck_TurnToBallOrScan());
} }
void void
...@@ -723,7 +741,7 @@ Agent::doPreprocess() ...@@ -723,7 +741,7 @@ Agent::doPreprocess()
/*! /*!
*/ */
bool action_status_t
Agent::doShoot() Agent::doShoot()
{ {
const WorldModel & wm = this->world(); const WorldModel & wm = this->world();
...@@ -738,21 +756,23 @@ Agent::doShoot() ...@@ -738,21 +756,23 @@ Agent::doShoot()
// reset intention // reset intention
this->setIntention( static_cast< SoccerIntention * >( 0 ) ); this->setIntention( static_cast< SoccerIntention * >( 0 ) );
return true; return ACTION_STATUS_MAYBE;
} }
return false; return ACTION_STATUS_BAD;
} }
bool action_status_t
Agent::doSmartKick() Agent::doSmartKick()
{ {
const ShootGenerator::Container & cont = const ShootGenerator::Container & cont =
ShootGenerator::instance().courses(this->world(), false); ShootGenerator::instance().courses(this->world(), false);
ShootGenerator::Container::const_iterator best_shoot ShootGenerator::Container::const_iterator best_shoot
= std::min_element(cont.begin(), cont.end(), ShootGenerator::ScoreCmp()); = std::min_element(cont.begin(), cont.end(), ShootGenerator::ScoreCmp());
return Body_SmartKick(best_shoot->target_point_, best_shoot->first_ball_speed_, return BooleanToActionStatus(Body_SmartKick(best_shoot->target_point_,
best_shoot->first_ball_speed_ * 0.99, 3).execute(this); best_shoot->first_ball_speed_,
best_shoot->first_ball_speed_ * 0.99,
3).execute(this));
} }
...@@ -769,19 +789,19 @@ Agent::doPass() ...@@ -769,19 +789,19 @@ Agent::doPass()
return true; return true;
} }
bool action_status_t
Agent::doPassTo(int receiver) Agent::doPassTo(int receiver)
{ {
Force_Pass pass; Force_Pass pass;
pass.get_pass_to_player(this->world(), receiver); pass.get_pass_to_player(this->world(), receiver);
return pass.execute(this); return BooleanToActionStatus(pass.execute(this));
} }
/*-------------------------------------------------------------------*/ /*-------------------------------------------------------------------*/
/*! /*!
*/ */
bool action_status_t
Agent::doDribble() Agent::doDribble()
{ {
bool success = false; bool success = false;
...@@ -795,9 +815,9 @@ Agent::doDribble() ...@@ -795,9 +815,9 @@ Agent::doDribble()
success = doPreprocess(); success = doPreprocess();
ActionChainHolder::instance().update( world() ); ActionChainHolder::instance().update( world() );
if (Bhv_ChainAction(ActionChainHolder::instance().graph()).execute(this)) { if (Bhv_ChainAction(ActionChainHolder::instance().graph()).execute(this)) {
return true; return ACTION_STATUS_MAYBE;
} else { } else {
return success; return BooleanToActionStatus(success);
} }
} }
...@@ -805,19 +825,19 @@ Agent::doDribble() ...@@ -805,19 +825,19 @@ Agent::doDribble()
/*! /*!
*/ */
bool action_status_t
Agent::doMove() Agent::doMove()
{ {
Strategy::instance().update( world() ); Strategy::instance().update( world() );
int role_num = Strategy::i().roleNumber(world().self().unum()); int role_num = Strategy::i().roleNumber(world().self().unum()); // Unused?
return Bhv_BasicMove().execute(this); return Bhv_BasicMove().action_execute(this);
} }
/*-------------------------------------------------------------------*/ /*-------------------------------------------------------------------*/
/*! /*!
* This Action marks the player with the specified uniform number. * This Action marks the player with the specified uniform number.
*/ */
bool Agent::doMarkPlayer(int unum) { action_status_t Agent::doMarkPlayer(int unum) {
const WorldModel & wm = this->world(); const WorldModel & wm = this->world();
Vector2D kicker_pos = Vector2D :: INVALIDATED; Vector2D kicker_pos = Vector2D :: INVALIDATED;
Vector2D player_pos = Vector2D :: INVALIDATED; Vector2D player_pos = Vector2D :: INVALIDATED;
...@@ -841,19 +861,27 @@ bool Agent::doMarkPlayer(int unum) { ...@@ -841,19 +861,27 @@ bool Agent::doMarkPlayer(int unum) {
if (!player_pos.isValid()) { if (!player_pos.isValid()) {
//Player to be marked not found //Player to be marked not found
return false; return ACTION_STATUS_BAD;
} }
if (!kicker_pos.isValid()) { if (!kicker_pos.isValid()) {
//Kicker not found //Kicker not found
return false; return ACTION_STATUS_BAD;
} }
if (unum == kicker_unum || kicker_pos.equals(player_pos)) { if (unum == kicker_unum || kicker_pos.equals(player_pos)) {
//Player to be marked is kicker //Player to be marked is kicker
return false; return ACTION_STATUS_BAD;
} }
double x = player_pos.x + (kicker_pos.x - player_pos.x)*0.1; double x = player_pos.x + (kicker_pos.x - player_pos.x)*0.1;
double y = player_pos.y + (kicker_pos.y - player_pos.y)*0.1; double y = player_pos.y + (kicker_pos.y - player_pos.y)*0.1;
return Body_GoToPoint(Vector2D(x,y), 0.25, ServerParam::i().maxDashPower()).execute(this); bool may_fix = wm.self().collidesWithPost();
if (Body_GoToPoint(Vector2D(x,y), 0.25, ServerParam::i().maxDashPower()).execute(this)) {
return ACTION_STATUS_MAYBE;
} else if (may_fix) {
return ACTION_STATUS_UNKNOWN;
} else {
return ACTION_STATUS_BAD;
}
} }
/*-------------------------------------------------------------------*/ /*-------------------------------------------------------------------*/
...@@ -867,7 +895,7 @@ bool compare_y_pos (PlayerObject* i, PlayerObject* j) { ...@@ -867,7 +895,7 @@ bool compare_y_pos (PlayerObject* i, PlayerObject* j) {
return i->pos().y < j->pos().y; return i->pos().y < j->pos().y;
} }
bool Agent::doReduceAngleToGoal() { action_status_t Agent::doReduceAngleToGoal() {
const WorldModel & wm = this->world(); const WorldModel & wm = this->world();
Vector2D goal_pos1( -ServerParam::i().pitchHalfLength(), ServerParam::i().goalHalfWidth() ); Vector2D goal_pos1( -ServerParam::i().pitchHalfLength(), ServerParam::i().goalHalfWidth() );
Vector2D goal_pos2( -ServerParam::i().pitchHalfLength(), -ServerParam::i().goalHalfWidth() ); Vector2D goal_pos2( -ServerParam::i().pitchHalfLength(), -ServerParam::i().goalHalfWidth() );
...@@ -876,7 +904,7 @@ bool Agent::doReduceAngleToGoal() { ...@@ -876,7 +904,7 @@ bool Agent::doReduceAngleToGoal() {
const BallObject& ball = wm.ball(); const BallObject& ball = wm.ball();
if (! ball.rposValid()) { if (! ball.rposValid()) {
return false; return ACTION_STATUS_BAD;
} }
Vector2D ball_pos = ball.pos(); Vector2D ball_pos = ball.pos();
...@@ -945,23 +973,30 @@ bool Agent::doReduceAngleToGoal() { ...@@ -945,23 +973,30 @@ bool Agent::doReduceAngleToGoal() {
double dist_to_end2 = targetLineEnd2.dist2(ball_pos); double dist_to_end2 = targetLineEnd2.dist2(ball_pos);
double ratio = dist_to_end2/(dist_to_end1+dist_to_end2); double ratio = dist_to_end2/(dist_to_end1+dist_to_end2);
Vector2D target = targetLineEnd1 * ratio + targetLineEnd2 * (1-ratio); Vector2D target = targetLineEnd1 * ratio + targetLineEnd2 * (1-ratio);
return Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this); bool may_fix = wm.self().collidesWithPost();
if (Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this)) {
return ACTION_STATUS_MAYBE;
} else if (may_fix) {
return ACTION_STATUS_UNKNOWN;
} else {
return ACTION_STATUS_BAD;
}
} }
/*-------------------------------------------------------------------*/ /*-------------------------------------------------------------------*/
/*! /*!
* *
* This action cuts off the angle between the shooter and the goal the players always moves on a fixed line. * This action cuts off the angle between the shooter and the goal; the player always moves on a fixed line.
*/ */
bool Agent::doDefendGoal() { action_status_t Agent::doDefendGoal() {
const WorldModel & wm = this->world(); const WorldModel & wm = this->world();
Vector2D goal_pos1( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), ServerParam::i().goalHalfWidth() ); Vector2D goal_pos1( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), ServerParam::i().goalHalfWidth() );
Vector2D goal_pos2( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), -ServerParam::i().goalHalfWidth() ); Vector2D goal_pos2( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), -ServerParam::i().goalHalfWidth() );
const BallObject& ball = wm.ball(); const BallObject& ball = wm.ball();
if (! ball.rposValid()) { if (! ball.rposValid()) {
return false; return ACTION_STATUS_BAD;
} }
Vector2D ball_pos = ball.pos(); Vector2D ball_pos = ball.pos();
...@@ -969,7 +1004,15 @@ bool Agent::doDefendGoal() { ...@@ -969,7 +1004,15 @@ bool Agent::doDefendGoal() {
double dist_to_post2 = goal_pos2.dist2(ball_pos); double dist_to_post2 = goal_pos2.dist2(ball_pos);
double ratio = dist_to_post2/(dist_to_post1+dist_to_post2); double ratio = dist_to_post2/(dist_to_post1+dist_to_post2);
Vector2D target = goal_pos1 * ratio + goal_pos2 * (1-ratio); Vector2D target = goal_pos1 * ratio + goal_pos2 * (1-ratio);
return Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this); bool may_fix = wm.self().collidesWithPost();
if (Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this)) {
return ACTION_STATUS_MAYBE;
} else if (may_fix) {
return ACTION_STATUS_UNKNOWN;
} else {
return ACTION_STATUS_BAD;
}
} }
/*-------------------------------------------------------------------*/ /*-------------------------------------------------------------------*/
...@@ -980,13 +1023,13 @@ bool Agent::doDefendGoal() { ...@@ -980,13 +1023,13 @@ bool Agent::doDefendGoal() {
*/ */
bool Agent::doGoToBall() { action_status_t Agent::doGoToBall() {
const WorldModel & wm = this->world(); const WorldModel & wm = this->world();
const BallObject& ball = wm.ball(); const BallObject& ball = wm.ball();
if (! ball.rposValid()) { if (! ball.rposValid()) {
return false; return ACTION_STATUS_BAD;
} }
return Body_GoToPoint(ball.pos(), 0.25, ServerParam::i().maxDashPower()).execute(this); return BooleanToActionStatus(Body_GoToPoint(ball.pos(), 0.25, ServerParam::i().maxDashPower()).execute(this));
} }
/*-------------------------------------------------------------------*/ /*-------------------------------------------------------------------*/
......
// -*-c++-*-
#ifndef AGENT_H #ifndef AGENT_H
#define AGENT_H #define AGENT_H
...@@ -64,7 +66,7 @@ protected: ...@@ -64,7 +66,7 @@ protected:
int num_teammates; // Number of teammates int num_teammates; // Number of teammates
int num_opponents; // Number of opponents int num_opponents; // Number of opponents
hfo::action_t last_action_with_status; // Last action with a recorded return status hfo::action_t last_action_with_status; // Last action with a recorded return status
int last_action_status; // Recorded return status of last action (1 = true, 0 = false, -1 = not available) hfo::action_status_t last_action_status; // Recorded return status of last action
public: public:
inline const std::vector<float>& getState() { return state; } inline const std::vector<float>& getState() { return state; }
...@@ -74,7 +76,7 @@ protected: ...@@ -74,7 +76,7 @@ protected:
int getUnum(); // Returns the uniform number of the player int getUnum(); // Returns the uniform number of the player
inline int getNumTeammates() { return num_teammates; } inline int getNumTeammates() { return num_teammates; }
inline int getNumOpponents() { return num_opponents; } inline int getNumOpponents() { return num_opponents; }
int getLastActionStatus(hfo::action_t last_action); // if last_action is correct, returns status if available hfo::action_status_t getLastActionStatus(hfo::action_t last_action); // if last_action is correct, returns status if available
inline void setFeatureSet(hfo::feature_set_t fset) { feature_set = fset; } inline void setFeatureSet(hfo::feature_set_t fset) { feature_set = fset; }
inline std::vector<float>* mutable_params() { return &params; } inline std::vector<float>* mutable_params() { return &params; }
...@@ -83,21 +85,22 @@ protected: ...@@ -83,21 +85,22 @@ protected:
private: private:
bool doPreprocess(); bool doPreprocess();
bool doSmartKick(); hfo::action_status_t doSmartKick();
bool doShoot(); hfo::action_status_t doShoot();
bool doPass(); bool doPass();
bool doPassTo(int receiver); hfo::action_status_t doPassTo(int receiver);
bool doDribble(); hfo::action_status_t doDribble();
bool doMove(); hfo::action_status_t doMove();
bool doForceKick(); bool doForceKick();
bool doHeardPassReceive(); bool doHeardPassReceive();
bool doMarkPlayer(int unum); hfo::action_status_t doMarkPlayer(int unum);
bool doMarkPlayerNearIndex(int near_index); bool doMarkPlayerNearIndex(int near_index);
bool doReduceAngleToGoal(); hfo::action_status_t doReduceAngleToGoal();
bool doDefendGoal(); hfo::action_status_t doDefendGoal();
bool doGoToBall(); hfo::action_status_t doGoToBall();
bool doNewAction1(); bool doNewAction1();
void addLastActionStatus(hfo::action_t last_action, bool action_status); void addLastActionStatus(hfo::action_t last_action, hfo::action_status_t action_status);
void addLastActionStatusCollision(hfo::action_t last_action, bool may_fix, bool likely_success);
Communication::Ptr M_communication; Communication::Ptr M_communication;
......
...@@ -48,25 +48,36 @@ ...@@ -48,25 +48,36 @@
#include <rcsc/common/server_param.h> #include <rcsc/common/server_param.h>
#include "neck_offensive_intercept_neck.h" #include "neck_offensive_intercept_neck.h"
#include "common.hpp"
using namespace rcsc; using namespace rcsc;
bool
Bhv_BasicMove::execute( PlayerAgent * agent )
{
if (Bhv_BasicMove::action_execute(agent) == hfo::ACTION_STATUS_MAYBE) {
return true;
} else {
return false;
}
}
/*-------------------------------------------------------------------*/ /*-------------------------------------------------------------------*/
/*! /*!
*/ */
bool hfo::action_status_t
Bhv_BasicMove::execute( PlayerAgent * agent ) Bhv_BasicMove::action_execute( PlayerAgent * agent )
{ {
dlog.addText( Logger::TEAM, dlog.addText( Logger::TEAM,
__FILE__": Bhv_BasicMove" ); __FILE__": Bhv_BasicMove" );
bool success = true; hfo::action_status_t success = hfo::ACTION_STATUS_UNKNOWN;
//----------------------------------------------- //-----------------------------------------------
// tackle // tackle
if ( Bhv_BasicTackle( 0.8, 80.0 ).execute( agent ) ) if ( Bhv_BasicTackle( 0.8, 80.0 ).execute( agent ) )
{ {
return true; return hfo::ACTION_STATUS_MAYBE;
} }
const WorldModel & wm = agent->world(); const WorldModel & wm = agent->world();
...@@ -85,9 +96,8 @@ Bhv_BasicMove::execute( PlayerAgent * agent ) ...@@ -85,9 +96,8 @@ Bhv_BasicMove::execute( PlayerAgent * agent )
{ {
dlog.addText( Logger::TEAM, dlog.addText( Logger::TEAM,
__FILE__": intercept" ); __FILE__": intercept" );
success = Body_Intercept().execute( agent ); success = hfo::BooleanToActionStatus(Body_Intercept().execute( agent ));
agent->setNeckAction( new Neck_OffensiveInterceptNeck() ); agent->setNeckAction( new Neck_OffensiveInterceptNeck() );
return success; return success;
} }
...@@ -96,7 +106,9 @@ Bhv_BasicMove::execute( PlayerAgent * agent ) ...@@ -96,7 +106,9 @@ Bhv_BasicMove::execute( PlayerAgent * agent )
const BallObject& ball = wm.ball(); const BallObject& ball = wm.ball();
if (! ball.rposValid()) { if (! ball.rposValid()) {
success = false; if (! wm.self().collidesWithPost()) {
success = hfo::ACTION_STATUS_BAD;
}
} }
double dist_thr = ball.distFromSelf() * 0.1; double dist_thr = ball.distFromSelf() * 0.1;
...@@ -115,8 +127,10 @@ Bhv_BasicMove::execute( PlayerAgent * agent ) ...@@ -115,8 +127,10 @@ Bhv_BasicMove::execute( PlayerAgent * agent )
).execute( agent ) ) ).execute( agent ) )
{ {
if (! Body_TurnToBall().execute( agent )) { if (! Body_TurnToBall().execute( agent )) {
success = false; success = hfo::ACTION_STATUS_BAD;
} }
} else if (success != hfo::ACTION_STATUS_BAD) {
success = hfo::ACTION_STATUS_MAYBE;
} }
if ( wm.existKickableOpponent() && if ( wm.existKickableOpponent() &&
......
...@@ -29,6 +29,7 @@ ...@@ -29,6 +29,7 @@
#include <rcsc/geom/vector_2d.h> #include <rcsc/geom/vector_2d.h>
#include <rcsc/player/soccer_action.h> #include <rcsc/player/soccer_action.h>
#include "common.hpp"
class Bhv_BasicMove class Bhv_BasicMove
: public rcsc::SoccerBehavior { : public rcsc::SoccerBehavior {
...@@ -36,7 +37,8 @@ public: ...@@ -36,7 +37,8 @@ public:
Bhv_BasicMove() Bhv_BasicMove()
{ } { }
bool execute( rcsc::PlayerAgent * agent ); bool execute( rcsc::PlayerAgent * agent );
hfo::action_status_t action_execute( rcsc::PlayerAgent * agent );
private: private:
double getDashPower( const rcsc::PlayerAgent * agent ); double getDashPower( const rcsc::PlayerAgent * agent );
......
...@@ -5,6 +5,7 @@ ...@@ -5,6 +5,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>
#include <vector>
namespace hfo { namespace hfo {
...@@ -33,14 +34,14 @@ enum action_t ...@@ -33,14 +34,14 @@ enum action_t
DRIBBLE, // [High-Level] Dribble(): Offensive dribble DRIBBLE, // [High-Level] Dribble(): Offensive dribble
CATCH, // [High-Level] Catch(): Catch the ball (Goalie only!) CATCH, // [High-Level] Catch(): Catch the ball (Goalie only!)
NOOP, // Do nothing NOOP, // Do nothing
QUIT, // Special action to quit the game QUIT, // Special action to quit the game
REDUCE_ANGLE_TO_GOAL, // [High-Level] Reduce_Angle_To_Goal : Reduces the shooting angle REDUCE_ANGLE_TO_GOAL, // [High-Level] Reduce_Angle_To_Goal : Reduces the shooting angle
MARK_PLAYER, // [High-Level] Mark_Player(opponent_unum [0,11]) : Moves to the position in between the kicker and a given player MARK_PLAYER, // [High-Level] Mark_Player(opponent_unum [0,11]) : Moves to the position in between the kicker and a given player
DEFEND_GOAL, DEFEND_GOAL,
GO_TO_BALL GO_TO_BALL
}; };
// Status of a HFO game // Status of an HFO game
enum status_t enum status_t
{ {
IN_GAME, // Game is currently active IN_GAME, // Game is currently active
...@@ -51,6 +52,24 @@ enum status_t ...@@ -51,6 +52,24 @@ enum status_t
SERVER_DOWN // Server is not alive SERVER_DOWN // Server is not alive
}; };
// Action status
enum action_status_t {
ACTION_STATUS_UNKNOWN = -1, // cannot tell or invalid action # in status request
ACTION_STATUS_BAD = 0, // definitely not OK
ACTION_STATUS_MAYBE = 1, // may be OK, may not
};
/**
* Translates from boolean false (bad) or true (maybe OK) to action status
*/
inline action_status_t BooleanToActionStatus(const bool status) {
if (status) {
return ACTION_STATUS_MAYBE;
} else{
return ACTION_STATUS_BAD;
}
}
// Configuration of the HFO domain including the team names and player // Configuration of the HFO domain including the team names and player
// numbers for each team. This struct is populated by ParseConfig(). // numbers for each team. This struct is populated by ParseConfig().
struct Config { struct Config {
...@@ -171,7 +190,7 @@ inline std::string ActionToString(action_t action) { ...@@ -171,7 +190,7 @@ inline std::string ActionToString(action_t action) {
}; };
/** /**
* Returns a string representation of a game_status. * Returns a string representation of a game status.
*/ */
inline std::string StatusToString(status_t status) { inline std::string StatusToString(status_t status) {
switch (status) { switch (status) {
...@@ -192,6 +211,22 @@ inline std::string StatusToString(status_t status) { ...@@ -192,6 +211,22 @@ inline std::string StatusToString(status_t status) {
} }
}; };
/**
* Returns a string representation of an action status.
*/
inline std::string ActionStatusToString(action_status_t status) {
switch (status) {
case ACTION_STATUS_BAD:
return "Bad";
case ACTION_STATUS_MAYBE:
return "MaybeOK";
case ACTION_STATUS_UNKNOWN:
return "Unknown";
default:
return "Invalid";
}
}
/** /**
* Parse a Trainer message to populate config. Returns a bool * Parse a Trainer message to populate config. Returns a bool
* indicating if the struct was correctly parsed. * indicating if the struct was correctly parsed.
......
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