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Sadra Commit #5

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4 changes: 2 additions & 2 deletions config/settings.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,12 @@
[Game]
Mode=Real;Simulation;
[Team]
Color =Yellow;Blue;
Color =Blue;Yellow;
Side =Left;Right;
[Field]
Size = Double;Single;
[Transmitter]
SerialPort = /dev/ttyUSB1
SerialPort = /dev/ttyUSB0

[VisionConfig]
UsingCameras = 7;CAMERA_NONE = 0, CAMERA_0 = 1, CAMERA_1 = 2, CAMERA_2 = 3, CAMERA_3 = 4, CAMERA_BOTH_L = 5,CAMERA_BOTH_R = 6,CAMERA_ALL = 7
Expand Down
2 changes: 1 addition & 1 deletion src/ai/mapsearchnode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ QList<Circle2D> MapSearchNode::getObsCircle()
{
QList<Circle2D> result;

double b_rad = ROBOT_RADIUS + 2*BALL_RADIUS;
double b_rad = ROBOT_RADIUS + 2*BALL_RADIUS;//20
double r_rad = ROBOT_RADIUS * 2;


Expand Down
2 changes: 1 addition & 1 deletion src/ai/play/playgameon.cpp
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Expand Up @@ -445,7 +445,7 @@ void PlayGameOn::coach()
}

tGolie->setIdlePosition(goaliePos);

wm->debug_pos.append(goaliePos.loc);//test
game_status = wm->kn->gameStatus(game_status);

int ballOwner = findBallOwner();
Expand Down
265 changes: 118 additions & 147 deletions src/ai/play/playstop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,14 @@
PlayStop::PlayStop(WorldModel *worldmodel, QObject *parent) :
Play("PlayStop", worldmodel, parent)
{
tGolie=new TacticGoalie(wm);

tDefenderLeft=new TacticDefender(wm);
tDefenderRight=new TacticDefender(wm);

tStopMid=new TacticStop(wm);
tStopLeft=new TacticStop(wm);
tStopRight=new TacticStop(wm);
tGoalie = new TacticGoalie(wm);
tDefenderLeft = new TacticDefender(wm);
tDefenderRight = new TacticDefender(wm);
tStopMid = new TacticStop(wm);
tStopLeft = new TacticStop(wm);
tStopRight = new TacticStop(wm);
tAttackerLeft = new TacticAttacker(wm);
tAttackerRight = new TacticAttacker(wm);

leftChecker = 0;
rightChecker = 0;
Expand All @@ -27,63 +27,38 @@ int PlayStop::enterCondition()
// return 20000;
}

bool PlayStop::collisionwithDefenders(Vector2D center, Vector2D left, Vector2D right)
{
if( ((center-wm->ourRobot[tDefenderLeft->getID()].pos.loc).length() < 2*ROBOT_RADIUS)
||
((left-wm->ourRobot[tDefenderLeft->getID()].pos.loc).length() < 2*ROBOT_RADIUS)
||
((right-wm->ourRobot[tDefenderLeft->getID()].pos.loc).length() < 2*ROBOT_RADIUS)
||
((center-wm->ourRobot[tDefenderRight->getID()].pos.loc).length() < 2*ROBOT_RADIUS)
||
((left-wm->ourRobot[tDefenderRight->getID()].pos.loc).length() < 2*ROBOT_RADIUS)
||
((right-wm->ourRobot[tDefenderRight->getID()].pos.loc).length() < 2*ROBOT_RADIUS)
)
return true;

return false;
}

bool PlayStop::oneOfDefendersIsInPenalty(Vector2D leftPos, Vector2D midPos, Vector2D rightPos)
{
if( wm->kn->IsInsideGolieArea(leftPos) || wm->kn->IsInsideGolieArea(midPos) || wm->kn->IsInsideGolieArea(rightPos))
return true;

return false;
}

void PlayStop::initRole()
{
QList<int> activeAgents=wm->kn->ActiveAgents();
activeAgents.removeOne(wm->ref_goalie_our);
QList <int> actives = wm->kn->ActiveAgents();
actives.removeOne(wm->ref_goalie_our);
wm->ourRobot[wm->ref_goalie_our].Role = AgentRole::Golie;
switch (activeAgents.length()) {
switch (actives.length()) {
case 1:
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderRight;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderLeft;
break;
case 2:
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderRight;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderLeft;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderLeft;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderRight;
break;
case 3:
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderRight;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderLeft;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::AttackerMid;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderLeft;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderRight;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::AttackerMid;
break;
case 4:
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderRight;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderLeft;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::AttackerLeft;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::AttackerRight;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderLeft;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderRight;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::AttackerMid;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::AttackerLeft;
break;
case 5:
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderRight;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::DefenderLeft;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::AttackerMid;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::AttackerLeft;
wm->ourRobot[activeAgents.takeFirst()].Role = AgentRole::AttackerRight;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderLeft;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::DefenderRight;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::AttackerMid;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::AttackerLeft;
wm->ourRobot[actives.takeFirst()].Role = AgentRole::AttackerRight;
break;
default:
break;
}
}
Expand All @@ -94,7 +69,7 @@ void PlayStop::setTactics(int index)

switch (wm->ourRobot[index].Role) {
case AgentRole::Golie:
tactics[index] = tGolie;
tactics[index] = tGoalie;
break;
case AgentRole::DefenderLeft:
tactics[index] = tDefenderLeft;
Expand Down Expand Up @@ -181,117 +156,113 @@ void PlayStop::setPositions()
rightChecker = 0;
}

tGolie->setIdlePosition(goaliePos);
tGoalie->setIdlePosition(goaliePos);

if(wm->kn->IsInsideGolieArea(wm->ball.pos.loc) )
{
tStopLeft->setStopPosition(Vector2D(Field::MinX/2.0,Field::ourGoalPost_L.y+200));
tStopRight->setStopPosition(Vector2D(Field::MinX/2.0,Field::ourGoalPost_R.y-200));
tStopMid->setStopPosition(Vector2D(Field::MinX/2.0,Field::ourGoalCenter.y));
}
else if( wm->kn->IsInsideNearArea(wm->ball.pos.loc) )
if (wm->kn->IsInsideGolieArea(wm->ball.pos.loc))
{
Vector2D candidateL_1, candidateL_2, mainL;

Circle2D cir_l(Field::defenceLineLinear_L,Field::goalCircle_R+ROBOT_RADIUS);
Line2D thirty_l(Field::defenceLineLinear_L,AngleDeg(30));
cir_l.intersection(thirty_l,&candidateL_1,&candidateL_2);
if( wm->kn->IsInsideField(candidateL_1) && !wm->kn->IsInsideGolieArea(candidateL_1) )
mainL = candidateL_1;
else
mainL = candidateL_2;

tStopLeft->setStopPosition(Vector2D(mainL.x,sign(wm->ball.pos.loc.y)*mainL.y));
tStopMid->setStopPosition(Vector2D(Field::MinX+300,-sign(wm->ball.pos.loc.y)*1400));
tStopRight->setStopPosition(Vector2D(mainL.x,-sign(wm->ball.pos.loc.y)*mainL.y));
tStopMid->setStopPosition({Field::ourGoalCenter.x + 2250, 0});
tStopLeft->setStopPosition({Field::ourGoalCenter.x + 2250, 1250});
tStopRight->setStopPosition({Field::ourGoalCenter.x + 2250, -1250});
}
else
else if (wm->ball.pos.loc.x < Field::ourGoalCenter.x + (Field::MaxX * 2) / 3)
{
Vector2D finalPos,notImportant,leftPos,rightPos;

Circle2D robotCircle(wm->ball.pos.loc,ALLOW_NEAR_BALL_RANGE);
Segment2D line2Goal(wm->ball.pos.loc,Field::ourGoalCenter);
robotCircle.intersection(line2Goal,&finalPos,&notImportant);

Circle2D secondCircle(finalPos,(2.5)*ROBOT_RADIUS);
robotCircle.intersection(secondCircle,&leftPos,&rightPos);

if( !wm->kn->IsInsideField(leftPos) )
Segment2D seg(Field::ourGoalCenter, wm->ball.pos.loc);
Circle2D ballcir(wm->ball.pos.loc, ALLOW_NEAR_BALL_RANGE);
Vector2D fdot, sdot;
ballcir.intersection(seg, &fdot, &sdot);

Circle2D goalieCir (Field::ourGoalCenter, 1300);
Line2D linetest (Field::ourGoalCenter, wm->ball.pos.loc);
if (wm->kn->IsInsideGolieArea(fdot))
{
leftPos = finalPos;
finalPos = rightPos;

Vector2D leftPos2,rightPos2;
Circle2D secondCircle(finalPos,(2.5)*ROBOT_RADIUS);
robotCircle.intersection(secondCircle,&leftPos2,&rightPos2);

if( leftPos.dist(leftPos2) < leftPos.dist(rightPos2) )
rightPos = rightPos2;
else
rightPos = leftPos2;

goalieCir.intersection(linetest, &fdot, &sdot);
if (fdot.x < sdot.x)
fdot = sdot;
}
else if( !wm->kn->IsInsideField(rightPos) )
{
rightPos = finalPos;
finalPos = leftPos;

Vector2D leftPos2,rightPos2;
Circle2D secondCircle(finalPos,(2.5)*ROBOT_RADIUS);
robotCircle.intersection(secondCircle,&leftPos2,&rightPos2);
tStopMid->setStopPosition(fdot);

if( rightPos.dist(leftPos2) < rightPos.dist(rightPos2) )
leftPos = rightPos2;
else
leftPos = leftPos2;
}
tactics[tStopLeft->getID()] = tAttackerLeft;
tactics[tStopRight->getID()] = tAttackerRight;

if( collisionwithDefenders(finalPos,leftPos,rightPos) || oneOfDefendersIsInPenalty(leftPos,finalPos,rightPos) )
Marking def;
def.setWorldModel(wm); //??
bool isMatched;
QList <int> opp = wm->kn->ActiveOppAgents();
QList <int> our;
our.append(tAttackerLeft->getID());
our.append(tAttackerRight->getID());
QList <Marking_Struct> m2m = def.findMarking(our , opp, isMatched);
if (isMatched)
{
if( wm->kn->IsInsideRect(wm->ball.pos.loc,Vector2D(Field::MinX,Field::MaxY),Vector2D(0,0.25*Field::MaxY))
||
wm->kn->IsInsideRect(wm->ball.pos.loc,Vector2D(Field::MinX,0.25*Field::MinY),Vector2D(0,Field::MinY)) )
for (int i = 0; i < m2m.size(); i++)
{
Vector2D candidateL_1, candidateL_2, mainL;

Circle2D cir_l(Field::defenceLineLinear_L,Field::goalCircle_R+ROBOT_RADIUS);
Line2D thirty_l(Field::defenceLineLinear_L,AngleDeg(30));
cir_l.intersection(thirty_l,&candidateL_1,&candidateL_2);
if( wm->kn->IsInsideField(candidateL_1) && !wm->kn->IsInsideGolieArea(candidateL_1) )
mainL = candidateL_1;
else
mainL = candidateL_2;

tStopLeft->setStopPosition(Vector2D(mainL.x,sign(wm->ball.pos.loc.y)*mainL.y));
tStopMid->setStopPosition(Vector2D(Field::ourPenaltySpot.x+200,Field::ourPenaltySpot.y));
tStopRight->setStopPosition(Vector2D(mainL.x,-sign(wm->ball.pos.loc.y)*mainL.y));
}
else
{
//tStopLeft->setStopPosition(Vector2D(wm->ourRobot[tDefenderLeft->getID()].pos.loc.x
// , wm->ourRobot[tDefenderLeft->getID()].pos.loc.y+5*ROBOT_RADIUS));
finalPos = Vector2D(wm->ourRobot[tDefenderLeft->getID()].pos.loc.x,
0.5*(wm->ourRobot[tDefenderLeft->getID()].pos.loc.y+wm->ourRobot[tDefenderRight->getID()].pos.loc.y)
);
tStopLeft->setStopPosition(Vector2D(finalPos.x,finalPos.y+4.5*ROBOT_RADIUS));
tStopMid->setStopPosition(Vector2D(finalPos.x,finalPos.y-6.5*ROBOT_RADIUS));
tStopRight->setStopPosition(Vector2D(finalPos.x,finalPos.y-4.5*ROBOT_RADIUS));
wm->ourRobot[m2m.at(i).ourI].Status = AgentStatus::BlockingRobot;

switch (wm->ourRobot[m2m.at(i).ourI].Role) {
case AgentRole::DefenderLeft:
tDefenderLeft->setPlayerToKeep(m2m.at(i).oppI);
break;
case AgentRole::DefenderRight:
tDefenderRight->setPlayerToKeep(m2m.at(i).oppI);
break;
case AgentRole::AttackerLeft:
tAttackerLeft->setPlayerToKeep(m2m.at(i).oppI);
break;
case AgentRole::AttackerRight:
tAttackerRight->setPlayerToKeep(m2m.at(i).oppI);
break;
default:
break;
}
}
}
else
{
tStopLeft->setStopPosition(leftPos);
tStopMid->setStopPosition(finalPos);
tStopRight->setStopPosition(rightPos);
}
}
else if (wm->ball.pos.loc.x < Field::ourGoalCenter.x + (Field::MaxX * 2)* 2 / 3)
{
Vector2D fPosAttMid, fPosAttLeft, fPosAttRight, sec;
double slope, degree, deltaa;
slope = (wm->ball.pos.loc.y - Field::ourGoalCenter.y) / (wm->ball.pos.loc.x - Field::ourGoalCenter.x);
degree = atan(slope);
deltaa = 2 * asin( ROBOT_RADIUS / ALLOW_NEAR_BALL_RANGE );
AngleDeg deg(degree * 57.32), delta(deltaa * 57.32);
AngleDeg leftAttDeg, rightAttDeg;
leftAttDeg = operator -(deg, delta);
rightAttDeg = operator +(deg, delta);
Line2D leftAttLine(wm->ball.pos.loc, leftAttDeg.degree() - 1.5);
Line2D rightAttLine(wm->ball.pos.loc, rightAttDeg.degree() + 1.5);
Circle2D cir(wm->ball.pos.loc, ALLOW_NEAR_BALL_RANGE);
cir.intersection(leftAttLine, &fPosAttLeft, &sec);
if (sec.x < fPosAttLeft.x)
fPosAttLeft = sec;
cir.intersection(rightAttLine, &fPosAttRight, &sec);
if (sec.x < fPosAttRight.x)
fPosAttRight = sec;

tStopLeft->setStopPosition(fPosAttLeft);
tStopRight->setStopPosition(fPosAttRight);

Segment2D seg(Field::ourGoalCenter, wm->ball.pos.loc);
Circle2D ballcir(wm->ball.pos.loc, ALLOW_NEAR_BALL_RANGE);
Vector2D fdot, sdot;
ballcir.intersection(seg, &fdot, &sdot);
tStopMid->setStopPosition(fdot);
}
else if (Field::ourGoalCenter.x + (Field::MaxX * 2)* 2 / 3 < wm->ball.pos.loc.x)
{
Segment2D seg(Field::ourGoalCenter, wm->ball.pos.loc);
Circle2D ballcir(wm->ball.pos.loc, ALLOW_NEAR_BALL_RANGE);
Vector2D fdot, sdot;
ballcir.intersection(seg, &fdot, &sdot);
tStopMid->setStopPosition(fdot);

tStopLeft->setStopPosition({wm->ball.pos.loc.x - 2250, 1250});
tStopRight->setStopPosition({wm->ball.pos.loc.x - 2250, -1250});
}
}

void PlayStop::execute()
{
wm->passPoints.clear();
wm->debug_pos.clear();

QList<int> activeAgents=wm->kn->ActiveAgents();

for(int i=0;i<activeAgents.size();i++)
Expand Down
22 changes: 13 additions & 9 deletions src/ai/play/playstop.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,25 +3,29 @@

#include "play.h"
#include "QDebug"
#include "man2man.h"

class PlayStop : public Play
{
Q_OBJECT
public:
explicit PlayStop(WorldModel *worldmodel, QObject *parent = 0);
virtual void execute();
//virtual Tactic* getTactic(int id);
virtual int enterCondition();
bool collisionwithDefenders(Vector2D center,Vector2D left,Vector2D right);
bool oneOfDefendersIsInPenalty(Vector2D leftPos, Vector2D midPos, Vector2D rightPos);

//virtual Tactic* getTactic(int id);
//bool collisionwithDefenders(Vector2D center,Vector2D left,Vector2D right);
//bool oneOfDefendersIsInPenalty(Vector2D leftPos, Vector2D midPos, Vector2D rightPos);

private:
TacticGoalie* tGolie;
TacticDefender* tDefenderLeft;
TacticDefender* tDefenderRight;
TacticStop* tStopMid;
TacticStop* tStopLeft;
TacticStop* tStopRight;
TacticGoalie *tGoalie;
TacticDefender *tDefenderLeft;
TacticDefender *tDefenderRight;
TacticStop *tStopMid;
TacticStop *tStopLeft;
TacticStop *tStopRight;
TacticAttacker *tAttackerLeft;
TacticAttacker *tAttackerRight;

virtual void initRole();
void setTactics(int index);
Expand Down
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