First try at adding PreprocessAsAction

hfo/hfo.py

@@ -26,7 +26,7 @@ LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = list(range(2))
   NOOP(): Do Nothing
   QUIT(): Quit the game '''
 DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
-    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL = list(range(19))
+    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL,PREPROCESS = list(range(20))
 
 ''' Possible game status
   [IN_GAME] Game is currently active

src/agent.cpp

@@ -317,6 +317,9 @@ void Agent::actionImpl() {
     case GO_TO_BALL:
       this->doGoToBall();
       break;
+    case PREPROCESS:
+      this->doPreprocessAsAction();
+      break;
     default:
       std::cerr << "ERROR: Unsupported Action: "
                 << requested_action << std::endl;
@@ -698,6 +701,121 @@ Agent::doPreprocess()
     return false;
 }
 
+/*-------------------------------------------------------------------*/
+/*!
+  Alternative high-level action to always doing "Move"; usable by either side, although
+  probably more useful for offense.
+*/
+bool
+Agent::doPreprocessAsAction()
+{
+    // check tackle expires
+    // check self position accuracy
+    // ball search
+    // check queued intention
+
+    const WorldModel & wm = this->world();
+
+    dlog.addText( Logger::TEAM,
+                  __FILE__": (doPreProcessAsAction)" );
+
+    //
+    // frozen 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() && wm.self().velValid() ) )
+    {
+      if (! wm.self().posValid() ) {
+        dlog.addText( Logger::TEAM,
+                      __FILE__": invalid my pos" );
+      } else {
+	dlog.addText( Logger::TEAM,
+                      __FILE__": invalid my vel" );
+      }
+      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 queued action
+    //
+    if ( this->doIntention() )
+    {
+        dlog.addText( Logger::TEAM,
+                      __FILE__": do queued intention" );
+        return true;
+    }
+
+    //
+    // check pass message
+    //
+    if ( doHeardPassReceive() )
+    {
+        return true;
+    }
+
+    const BallObject& ball = wm.ball();
+    if (! ( ball.rposValid() && ball.rvelValid() )) {
+      dlog.addText( Logger::TEAM,
+		    __FILE__": search ball" );
+      Bhv_NeckBodyToBall().execute( this );
+      return true;
+    }
+    
+
+    return false;
+}
+
 /*-------------------------------------------------------------------*/
 /*!
 

src/agent.h

@@ -76,6 +76,7 @@ protected:
 
  private:
   bool doPreprocess();
+  bool doPreprocessAsAction();
   bool doSmartKick();
   bool doShoot();
   bool doPass();

src/common.hpp

@@ -37,7 +37,8 @@ enum action_t
   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
   DEFEND_GOAL,
-  GO_TO_BALL
+  GO_TO_BALL,
+  PREPROCESS  // [High-Level] Handle lost position of self/ball; variant called in DRIBBLE
 };
 
 // Status of a HFO game
@@ -117,6 +118,8 @@ inline int NumParams(const action_t action) {
      return 0;
    case GO_TO_BALL:
      return 0;
+   case PREPROCESS:
+     return 0;
  }
  std::cerr << "Unrecognized Action: " << action << std::endl;
  return -1;
@@ -165,6 +168,8 @@ inline std::string ActionToString(action_t action) {
       return "Defend_Goal";
     case GO_TO_BALL:
       return "Go_To_Ball";
+    case PREPROCESS:
+      return "PreProcessAsAction";
     default:
       return "Unknown";
   }