Sed ali

.gitignore

@@ -14,7 +14,7 @@
 *.dll
 *.exe
 
-*.pro.user
+*.pro.user*
 build-KN2CSSL-*
 tmp/*
 build-*

config/settings.ini

@@ -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
@@ -44,4 +44,3 @@ RefIP = 224.5.23.10
 RefPort = 10010
 RefPortNew = 10030
 RefUseNew = 1
-

src/ai/Skills.h.autosave

@@ -0,0 +1,12 @@
+#ifndef SKILLS_H
+#define SKILLS_H
+
+#include "skill.h"
+#include "skill/skillkick.h"
+#include "skill/skilltest.h"
+#include "skill/skillonetouch.h"
+#include "skill/skillpassreceive.h"
+//seyed ali hejazi
+#include "skill/shootball.h"
+
+#endif // SKILLS_H

src/ai/ai.cpp

@@ -14,6 +14,9 @@
 #include "play/playtest2.h"
 #include "play/playlearning.h"
 #include "play/playformations.h"
+//ali hejazi
+#include "play/playhw2_1.h"
+#include "play/mantomandefense.h"
 
 AI::AI(WorldModel *worldmodel, QString field_size, OutputBuffer *outputbuffer, QObject *parent) :
     QObject(parent),
@@ -52,6 +55,9 @@ AI::AI(WorldModel *worldmodel, QString field_size, OutputBuffer *outputbuffer, Q
     plays.append(new PlayTest2(wm));
     plays.append(new PlayLearning(wm));
     plays.append(new PlayFormations(wm));
+    //ali hejazi
+    plays.append(new PlayHW2_1(wm));
+    plays.append(new mantomanDefense(wm));
 }
 
 void AI::Start()

src/ai/play/mantomandefense.cpp

@@ -0,0 +1,59 @@
+#include "mantomandefense.h"
+
+mantomanDefense::mantomanDefense(WorldModel *worldmodel, QObject *parent) :
+    Play("PlayTest", worldmodel, parent)
+{
+
+}
+
+int mantomanDefense::enterCondition()
+{
+    return 0;
+}
+
+void mantomanDefense::initRole()
+{
+}
+
+void mantomanDefense::execute()
+{
+
+    QList <int> diffender = wm->kn->ActiveAgents();
+    QList <int> enemy = wm->kn->ActiveOppAgents();
+    QList <QList<double>> distances;
+    for(int i = diffender.length() ; i > 0 ; i--){
+        AlgorithmMin(diffender,enemy);
+    }
+}
+
+void mantomanDefense::AlgorithmMin(QList<int>& enm,QList<int>& ally){
+    QList <QList<double>> distances;
+    for(int i = 0 ; i < ally.length() ; i++){
+        QList<double> dists;
+        for(int j = 0 ; j < enm.length() ; j++){
+            Segment2D seg(wm->ourRobot[ally[i]].pos.loc,wm->oppRobot[enm[j]].pos.loc);
+            std::cout << "i am here" << std::endl;
+            dists.append(seg.length());
+        }
+        distances.append(dists);
+    }
+
+    double min = 99999999;
+    int minIndex1 = 0;
+    int minIndex2 = 0;
+    for(int i = 0 ; i < ally.length() ; i++){
+        for(int j = 0 ; j < enm.length() ; j++){
+            if(distances[i][j] < min){
+                min = distances[i][j];
+                minIndex1 = i;
+                minIndex2 = j;
+            }
+        }
+    }
+    tacticmantoman = new TacticTestStandingForwardEnemy(wm);
+    tacticmantoman->setDistance(4);
+    tacticmantoman->setOppRobotIndex(enm[minIndex2]);
+    tactics[ally[minIndex1]] = tacticmantoman;
+    ally.removeAt(minIndex1);
+    enm.removeAt(minIndex2);
+}

src/ai/play/mantomandefense.h

@@ -0,0 +1,19 @@
+#ifndef MANTOMANDEFENSE_H
+#define MANTOMANDEFENSE_H
+#include "play.h"
+#include "man2man.h"
+
+class mantomanDefense : public Play
+{
+    Q_OBJECT
+public:
+    explicit mantomanDefense(WorldModel *worldmodel, QObject *parent = 0);
+    virtual void execute();
+    virtual void initRole();
+    virtual int enterCondition();
+private:
+    TacticTestStandingForwardEnemy* tacticmantoman;
+    void AlgorithmMin(QList<int>& enm, QList<int>& ally);
+};
+
+#endif // MANTOMANDEFENSE_H

src/ai/play/playhalt.cpp

@@ -8,9 +8,9 @@ PlayHalt::PlayHalt(WorldModel *worldmodel, QObject *parent) :
 
 int PlayHalt::enterCondition()
 {
-    if(wm->cmgs.canMove() == false || wm->cmgs.timeout())
-        return 1000000;
-    else
+//    if(wm->cmgs.canMove() == false || wm->cmgs.timeout())
+//        return 1000000;
+//    else
         return 0;
 }
 

src/ai/play/playhw2_1.cpp

@@ -0,0 +1,23 @@
+#include "playhw2_1.h"
+
+PlayHW2_1::PlayHW2_1(WorldModel *worldmodel, QObject *parent) :
+    Play("PlayTest", worldmodel, parent)
+{
+    tTest = new TacticTestStandingForwardEnemy(wm);
+}
+
+int PlayHW2_1::enterCondition()
+{
+    return 0;
+}
+
+void PlayHW2_1::initRole()
+{
+}
+
+void PlayHW2_1::execute()
+{
+    tTest->setDistance(5);
+    tactics[wm->kn->ActiveAgents()[0]] = tTest;
+
+}

src/ai/play/playhw2_1.h

@@ -0,0 +1,20 @@
+#ifndef PLAYHW2_1_H
+#define PLAYHW2_1_H
+#include "play.h"
+#include "man2man.h"
+#include "tactic/tacticteststandingforwardenemy.h"
+
+class PlayHW2_1 : public Play
+{
+
+    Q_OBJECT
+public:
+    explicit PlayHW2_1(WorldModel *worldmodel, QObject *parent = 0);
+    virtual void execute();
+    virtual void initRole();
+    virtual int enterCondition();
+private:
+    TacticTestStandingForwardEnemy* tTest;
+};
+
+#endif // PLAYHW2_1_H

src/ai/play/playstop_hejazi.cpp

@@ -0,0 +1,3 @@
+#include "playstop_hejazi.h"
+
+

src/ai/play/playstop_hejazi.h

@@ -0,0 +1,15 @@
+#ifndef PLAYSTOP_HEJAZI_H
+#define PLAYSTOP_HEJAZI_H
+#include "play.h"
+#include <QObject>
+
+class PlayStop_Hejazi : public Play
+{
+public:
+    explicit PlayStop_Hejazi(WorldModel *worldmodel, QObject *parent = 0);
+    virtual void execute();
+    virtual void initRole();
+    PlayStop_Hejazi();
+};
+
+#endif // PLAYSTOP_HEJAZI_H

src/ai/play/playtest.cpp

@@ -1,26 +1,23 @@
 #include "playtest.h"
 PlayTest::PlayTest(WorldModel *worldmodel, QObject *parent) :
     Play("PlayTest", worldmodel, parent)
-{//////////////////////////////////
-    test = new TacticTest(wm);
-    test2 = new TacticTest2(wm);
-    ///////////////////////////////////
+{
+    tTest = new TacticTest(wm);
+    tTest2 = new TacticTest(wm);
 }
 
 int PlayTest::enterCondition()
 {
-    return 0;
+    return 99990;
 }
 
 void PlayTest::initRole()
 {
 }
 
 void PlayTest::execute()
-{//---////////////////////////////////////////////////////
-
-        tactics[0] = test;
-        tactics[1] = test;
-        tactics[2] = test;
-
+{
+    tactics[3]= tTest;
+    wm->debug_type=2;
+    wm->debug_pos.append(wm->ourRobot[5].pos.loc);
 }

src/ai/play/playtest.h

@@ -11,12 +11,9 @@ class PlayTest : public Play
     virtual void execute();
     virtual void initRole();
     virtual int enterCondition();
-
- ////////////////////////////
+    int flag=0;
 private:
-       int flag=0;
-    TacticTest *test;
-    TacticTest2 *test2;
-    ///////////////////////////
+    TacticTest* tTest;
+    TacticTest* tTest2;
 };
 #endif // PLAYTEST_H

src/ai/play/playtest2.cpp

@@ -3,11 +3,7 @@
 PlayTest2::PlayTest2(WorldModel *worldmodel, QObject *parent) :
     Play("PlayTest2", worldmodel, parent)
 {
-    // Goaler.
-    tGolie = new TacticGoalie(wm);
-    tTF = new TacticTestFriction(wm);
-    thalt = new TacticHalt(wm);
-    tTest = new TacticTest(wm);
+    tTest = new TacticTest2(wm);
 }
 
 int PlayTest2::enterCondition()
@@ -22,8 +18,49 @@ void PlayTest2::initRole()
 
 void PlayTest2::execute()
 {
-//    tactics[wm->ref_goalie_our] = tGolie;
-    tactics[3] = tTest;
-    qDebug()<<"Ball Speed is "<<wm->ball.vel.loc.length();
+    if(wm->gs == STATE_Stop){
+        tactics[wm->ref_goalie_our] = tTest;
+        //step1
+        if(wm->kn->ActiveAgents().size() == 3){
+            tactics[wm->kn->ActiveAgents()[0]] = tTest;
+            tactics[wm->kn->ActiveAgents()[1]] = tTest;
+            tactics[wm->kn->ActiveAgents()[2]] = tTest;
+        }
+        if(wm->kn->ActiveAgents().size() == 4){
+            tactics[wm->kn->ActiveAgents()[0]] = tTest;
+            tactics[wm->kn->ActiveAgents()[1]] = tTest;
+            tactics[wm->kn->ActiveAgents()[2]] = tTest;
+            tactics[wm->kn->ActiveAgents()[3]] = tTest;
+        }
+        if(wm->kn->ActiveAgents().size() == 5){
+            tactics[wm->kn->ActiveAgents()[0]] = tTest;
+            tactics[wm->kn->ActiveAgents()[1]] = tTest;
+            tactics[wm->kn->ActiveAgents()[2]] = tTest;
+            tactics[wm->kn->ActiveAgents()[3]] = tTest;
+            tactics[wm->kn->ActiveAgents()[4]] = tTest;
+        }
+        if(wm->kn->ActiveAgents().size() == 6){
+            tactics[wm->kn->ActiveAgents()[0]] = tTest;
+            tactics[wm->kn->ActiveAgents()[1]] = tTest;
+            tactics[wm->kn->ActiveAgents()[2]] = tTest;
+            tactics[wm->kn->ActiveAgents()[3]] = tTest;
+            tactics[wm->kn->ActiveAgents()[4]] = tTest;
+            tactics[wm->kn->ActiveAgents()[5]] = tTest;
+        }
+    }
+    if(wm->gs == STATE_Halt){
+        for(int i = 0 ; i < wm->kn->ActiveAgents().size() ; i++){
+            tactics[i] = new TacticHalt(wm);
+        }
+    }
+    if(wm->gs == STATE_Free_kick_Opp){
+        tactics[wm->ref_goalie_our] = tTest;
+    }
+    if(wm->gs == STATE_Free_kick_Our){
+        tactics[0] = (Tactic*) (new TacticTest(wm));
+    }
 }
 
+//Vector2D PlayTest2::generatePos(int radius,double alpha){
+//    return Vector2D(wm->ball.pos.loc.x + radius*std::sin()
+//}

src/ai/play/playtest2.h

@@ -3,6 +3,7 @@
 
 #include "play.h"
 #include "QDebug"
+#include "tactic/tactichalt.h"
 
 class PlayTest2 : public Play
 {
@@ -12,14 +13,11 @@ class PlayTest2 : public Play
     virtual void execute();
     //virtual Tactic* getTactic(int id);
     virtual int enterCondition();
+    Vector2D generatePos (int radius,double alpha);
 
 private:
-    TacticGoalie* tGolie;
-    TacticTestFriction* tTF;
-    TacticHalt* thalt;
-    TacticTest* tTest;
-
     virtual void initRole();
+    TacticTest2* tTest;
 };
 
 #endif // PLAYTEST2_H

src/ai/skill/shootball.cpp

@@ -0,0 +1,2 @@
+#include "shootball.h"
+

src/ai/skill/shootball.h

@@ -0,0 +1,22 @@
+#ifndef SHOOTBALL_H
+#define SHOOTBALL_H
+#include <QObject>
+#include "skill.h"
+
+//class shootBall : public Skill
+//{
+//    Q_OBJECT
+//public:
+//    shootBall();
+//    explicit shootBall(WorldModel* wm, QObject *parent = 0);
+//    bool execute(RobotCommand& rc);
+//private:
+//     bool targetMove;
+//     Vector2D* _target;
+//     /*!
+//       is ball shooted or not.
+//        */
+//     bool ballShooted;
+//};
+
+#endif // SHOOTBALL_H