SoccerTeam, Stuff from Magdeburg

author: sicarius <devnull@localhost> 2007-02-26 22:25:01 +0100
committer: sicarius <devnull@localhost> 2007-02-26 22:25:01 +0100
commit: f61eb900879fe941460a284ff9e4681b0958b944 (patch)
tree: e32e6e091b0d025e071f3eab1dbf52c04d107d1d /source/Concept/Framework/modules/logic
parent: 343397ecf6e8ba9ca94fc61e27c241139eff120b (diff)
download: rc2007-soccer-f61eb900879fe941460a284ff9e4681b0958b944.tar
rc2007-soccer-f61eb900879fe941460a284ff9e4681b0958b944.zip
2 files changed, 265 insertions, 15 deletions
diff --git a/source/Concept/Framework/modules/logic/logic.c b/source/Concept/Framework/modules/logic/logic.c
index f698495..239e426 100755
--- a/source/Concept/Framework/modules/logic/logic.c
+++ b/source/Concept/Framework/modules/logic/logic.c
@@ -3,16 +3,51 @@
 //-----------------------------------------------------------------------------
 void Logic::OnBallOwned()
 {
+	bool wasKeeper = this->IsKeeper();
+
 	this->SetKeeper(false);
+
+	if(!WIRELESS_ACTIVE)
+	{
+		Aktuator* ourAktuator = parent->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
+
+		ourAktuator->Kick();
+		this->SetKeeper(wasKeeper);
+	}
 }
 
 //-----------------------------------------------------------------------------
 void Logic::OnBallLost()
 {
-	Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);
 	
-	//ourWireless->Send(WIRELESS_CODE);
-	//ourWireless->Send();
+}
+
+//-----------------------------------------------------------------------------
+void Logic::OnBecomeKeeper()
+{
+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+	
+	if(distance2d(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) > DISTANCE_TOLERANCE)
+	{
+		status = STATUS_KEEPER_RETURN_HOME;
+
+		ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetOrientation(), DEFAULT_SPEED, 0);
+	}
+	else
+	{
+		UpdateKeeperMovement();
+	}
+}
+
+//-----------------------------------------------------------------------------
+void Logic::OnBecomeAttacker()
+{
+	 Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+
+	 ourNavigator->Stop();
+
+	 UpdateAttackerMovement();
 }
 
 //-----------------------------------------------------------------------------
@@ -20,21 +55,217 @@ void Logic::Update()
 {
 	// We want to use a navigator
 	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+	Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+	Display* ourDisplay = parent->GetModule<Display>(IO_DISPLAY_MAIN);
+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+	Obstacle_Tracker* ourObstacleTracker = parent->GetModule<Obstacle_Tracker>(IO_OBSTACLE_TRACKER_MAIN);
+
+	if(!this->HasBall() && ourBallTracker->HasBall())
+	{
+		this->hasBall = true;
+		this->OnBallOwned();
+	}
+	else if(this->HasBall() && !ourBallTracker->HasBall())
+	{
+		this->hasBall = false;
+		this->OnBallLost();
+	}
 
-	// is Keeper?
-	if(isKeeper) {
-		// turn around al little bit...
-		if((status == STATUS_KEEPER_TURN_LEFT && !ourNavigator->IsMoving()) ||
-			 (status != STATUS_KEEPER_TURN_LEFT && status != STATUS_KEEPER_TURN_RIGHT)) {
+	switch(status)
+	{
+		case STATUS_ATTACKER_SEARCHING_AT_HOME:
+		case STATUS_ATTACKER_SEARCHING_AT_ENEMY:
+			if(ourBallTracker->KnowsBallDirection())
+			{
+				ourNavigator->Stop();
+			}
+			break;
+		case STATUS_KEEPER_HUNT_BALL:
+			if(ourBallTracker->KnowsBallDirection())
+			{
+				ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+			}
+			else
+			{
+				ourNavigator->Stop();
+			}
+			break;
+	}
+
+	if(!ourNavigator->IsMoving())
+	{
+		if(this->IsKeeper())
+		{
+			UpdateKeeperMovement();
+		}
+		else
+		{
+			UpdateAttackerMovement();
+		}
+	}
+	
+	if(ourNavigator->IsMoving())
+	{
+		if(ourObstacleTracker->IsObstacleOnPath())
+		{
+			avoidsObstacle = true;
+			for(uint8 i = 0; i < 5; i++)
+			{
+				if(ourObstacleTracker->IsObstacleOnPath(easyAngle(ourNavigator->GetDirection() - ((i - 2) * PI / 4.0f))))
+				{
+				}
+				ourNavigator->GetDirection();
+			}
+		}
+	}
+}
+
+//-----------------------------------------------------------------------------
+void Logic::UpdateKeeperMovement()
+{
+	Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+
+	if(ourBallTracker->KnowsBallDirection())
+	{
+		if(ourBallTracker->GetBallDirection() > KEEPER_LEFT_ANGLE && 
+			ourBallTracker->GetBallDirection() <= PI)
+		{
+			if(distance2d(DEFENCE_L_LOC_X, DEFENCE_L_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)
+			{
+				float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());
+				if(angleDifference > PI)
+				{
+					angleDifference = (2 * PI) - angleDifference;
+				}
+
+				if(angleDifference > ORIENTATION_TOLERANCE)
+				{
+					status = STATUS_KEEPER_TURN_TO_BALL;
+					ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);
+				}
+				else
+				{
+					status = STATUS_KEEPER_HUNT_BALL;
+					ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+				}
+			}
+			else
+			{
+				status = STATUS_KEEPER_DRIVE_TO_DEFEND;
+				ourNavigator->DriveTo(DEFENCE_L_LOC_X, DEFENCE_L_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+			}
+		}
+		else if(ourBallTracker->GetBallDirection() < KEEPER_RIGHT_ANGLE && 
+			ourBallTracker->GetBallDirection() >= PI)
+		{
+			if(distance2d(DEFENCE_R_LOC_X, DEFENCE_R_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)
+			{
+				float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());
+				if(angleDifference > PI)
+				{
+					angleDifference = (2 * PI) - angleDifference;
+				}
+
+				if(angleDifference > ORIENTATION_TOLERANCE)
+				{
+					status = STATUS_KEEPER_TURN_TO_BALL;
+					ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);
+				}
+				else
+				{
+					status = STATUS_KEEPER_HUNT_BALL;
+					ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+				}
+			}
+			else
+			{
+				status = STATUS_KEEPER_DRIVE_TO_DEFEND;
+				ourNavigator->DriveTo(DEFENCE_R_LOC_X, DEFENCE_R_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+			}
+		}
+		else
+		{
+			if(distance2d(HOME_LOC_X, HOME_LOC_Y, ourPositionTracker->GetPositionX(), ourPositionTracker->GetPositionY()) < DISTANCE_TOLERANCE)
+			{
+				float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());
+				if(angleDifference > PI)
+				{
+					angleDifference = (2 * PI) - angleDifference;
+				}
+
+				if(angleDifference > ORIENTATION_TOLERANCE)
+				{
+					status = STATUS_KEEPER_TURN_TO_BALL;
+					ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);
+				}
+				else
+				{
+					status = STATUS_KEEPER_HUNT_BALL;
+					ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+				}
+			}
+			else
+			{
+				status = STATUS_KEEPER_DRIVE_TO_DEFEND;
+				ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+			}
+		}
+	}
+	else
+	{
+		if(status == STATUS_KEEPER_TURN_LEFT)
+		{
 			status = STATUS_KEEPER_TURN_RIGHT;
-			ourNavigator->RotateTo(315,200);
+			ourNavigator->RotateTo(315, DEFAULT_ROTATION_SPEED);
 		}
-		else if(status == STATUS_KEEPER_TURN_RIGHT && !ourNavigator->IsMoving()) {
+		else
+		{
 			status = STATUS_KEEPER_TURN_LEFT;
-			ourNavigator->RotateTo(45, 200);
+			ourNavigator->RotateTo(45, DEFAULT_ROTATION_SPEED);
 		}
 	}
-	else { // is Player?
-		
+}
+
+//-----------------------------------------------------------------------------
+void Logic::UpdateAttackerMovement()
+{
+	Ball_Tracker* ourBallTracker = parent->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+	Position_Tracker* ourPositionTracker = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
+	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+
+	if(ourBallTracker->KnowsBallDirection())
+	{
+		float angleDifference = fabs(ourBallTracker->GetBallDirection() - ourPositionTracker->GetOrientation());
+
+		if(angleDifference > PI)
+		{
+			angleDifference = (2 * PI) - angleDifference;
+		}
+
+		if(angleDifference > ORIENTATION_TOLERANCE)
+		{
+			status = STATUS_ATTACKER_TURN_TO_BALL;
+			ourNavigator->RotateTo(ourBallTracker->GetBallDirection(), DEFAULT_ROTATION_SPEED);
+		}
+		else
+		{
+			status = STATUS_ATTACKER_DRIVE_TO_BALL;
+			ourNavigator->Drive(ourBallTracker->GetBallDirection(), EMPTY_FLOAT, DEFAULT_SPEED, 0);
+		}
+	}
+	else
+	{
+		if(ourPositionTracker->GetPositionX() > 0)
+		{
+			status = STATUS_ATTACKER_SEARCHING_AT_HOME;
+			ourNavigator->DriveTo(HOME_LOC_X, HOME_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+		}
+		else
+		{
+			status = STATUS_ATTACKER_SEARCHING_AT_ENEMY;
+			ourNavigator->DriveTo(ENEMY_LOC_X, ENEMY_LOC_Y, EMPTY_FLOAT, DEFAULT_SPEED, 0);
+		}
 	}
 }
diff --git a/source/Concept/Framework/modules/logic/logic.h b/source/Concept/Framework/modules/logic/logic.h
index ad8bad7..031e0b6 100755
--- a/source/Concept/Framework/modules/logic/logic.h
+++ b/source/Concept/Framework/modules/logic/logic.h
@@ -12,6 +12,8 @@ public:
 		this->moduleId = 0;
 		this->isKeeper = false;
 		this->status = 0;
+		this->hasBall = false;
+		this->avoidsObstacle = false;
 	}
 
 	Logic(uint32 logicId)
@@ -20,16 +22,29 @@ public:
 		this->moduleId = logicId;
 		this->isKeeper = false;
 		this->status = 0;
+		this->hasBall = false;
+		this->avoidsObstacle = false;
 	}
 
 protected:
 	bool isKeeper;
 	uint8 status;
+	bool hasBall;
+	bool avoidsObstacle;
 
 	enum LogicalStatus
 	{
 		STATUS_KEEPER_TURN_RIGHT,
 		STATUS_KEEPER_TURN_LEFT,
+		STATUS_KEEPER_RETURN_HOME,
+		STATUS_KEEPER_HUNT_BALL,
+		STATUS_KEEPER_TURN_TO_BALL,
+		STATUS_KEEPER_DRIVE_TO_DEFEND,
+
+		STATUS_ATTACKER_TURN_TO_BALL,
+		STATUS_ATTACKER_DRIVE_TO_BALL,
+		STATUS_ATTACKER_SEARCHING_AT_HOME,
+		STATUS_ATTACKER_SEARCHING_AT_ENEMY,
 	};
 
 	void OnBallOwned();
@@ -51,7 +66,8 @@ public:
 		return !isKeeper;
 	}
 
-	void SetKeeper(bool newStatus) {
+	void SetKeeper(bool newStatus)
+	{
 		if(!this->isKeeper && newStatus)
 		{
 			this->OnBecomeKeeper();
@@ -65,8 +81,11 @@ public:
 
 	bool HasBall()
 	{
-		//fill me!
+		return this->hasBall;
 	}
+
+	void UpdateKeeperMovement();
+	void UpdateAttackerMovement();
 };
 
 #endif
author	sicarius <devnull@localhost>	2007-02-26 22:25:01 +0100
committer	sicarius <devnull@localhost>	2007-02-26 22:25:01 +0100
commit	f61eb900879fe941460a284ff9e4681b0958b944 (patch)
tree	e32e6e091b0d025e071f3eab1dbf52c04d107d1d /source/Concept/Framework/modules/logic
parent	343397ecf6e8ba9ca94fc61e27c241139eff120b (diff)
download	rc2007-soccer-f61eb900879fe941460a284ff9e4681b0958b944.tar rc2007-soccer-f61eb900879fe941460a284ff9e4681b0958b944.zip