Armin

config/settings.ini

@@ -1,14 +1,14 @@
 ; KN2C SSL Configuration File
 
 [Game]
-Mode=Real;Simulation;
+Mode=Simulation;Real;
 [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
@@ -17,11 +17,11 @@ UsingCameras = 7;CAMERA_NONE = 0, CAMERA_0 = 1, CAMERA_1 = 2, CAMERA_2 = 3, CAME
 RefereeBall = 100
 
 [Simulation]
-RefIP = 224.5.23.1
+RefIP = 224.5.23.1;127.0.0.1;
 RefPort = 10001
 RefPortNew = 10003
 RefUseNew = 1
-VisionIP = 224.5.23.6;127.0.0.1;
+VisionIP = 127.0.0.1;224.5.23.6;
 VisionPort = 10020
 
 [Real]
@@ -33,7 +33,7 @@ VisionIP = 224.5.23.2
 VisionPort = 10006
 
 [grSim]
-CommandIP = 224.5.23.6;127.0.0.1;
+CommandIP = 127.0.0.1;224.5.23.6;
 CommandPort = 20011
 BluePort = 30011
 YellowPort = 30012

src/ai/agent.cpp

@@ -6,8 +6,6 @@ Agent::Agent() :
 {
     wm = 0;
     id = -1;
-
-    ctrl = new Controller();
 }
 
 void Agent::setID(int id)
@@ -31,33 +29,31 @@ void Agent::SendCommand(RobotCommand rc)
 {
     if(!wm->ourRobot[id].isValid) return;
 
+    if( id == 0 ) wm->debug_pos.clear();
     ControllerInput ci = nav.calc(rc);
-    ControllerResult co = ctrl->calc(ci);
-
-    if( !controllerResultIsValid(co) )
+    if( id == 0 )
     {
-        delete ctrl;
-        ctrl = new Controller();
+        wm->debug_pos.append(ci.mid_pos.loc);
+        wm->debug_pos.append(ci.cur_pos.loc);
     }
 
+    ControllerResult co = ctrl.calc(ci);
+
     // Real Game Packet
     RobotData reRD;
-    reRD.RID    = id;
-    reRD.Vx_sp  = co.rs.VX * 1000;
-    reRD.Vy_sp  = co.rs.VY * 1000;
-    reRD.Wr_sp  = co.rs.VW * 1000;
-    reRD.Vx     = wm->ourRobot[id].vel.loc.x * 1000;
-    reRD.Vy     = wm->ourRobot[id].vel.loc.y * 1000;
-    reRD.Wr     = wm->ourRobot[id].vel.dir * 100;
-    reRD.alpha  = wm->ourRobot[id].pos.dir * 1000;
-    reRD.KICK   = (quint8) rc.kickspeedx;
-    reRD.CHIP   = (quint8) rc.kickspeedz;
-    reRD.SPIN   = 128;//for test
+    reRD.RID = id;
+    reRD.M0  = co.msR.M0;
+    reRD.M1  = co.msR.M1;
+    reRD.M2  = co.msR.M2;
+    reRD.M3  = co.msR.M3;
+    reRD.KCK = (quint8) rc.kickspeedx;
+    reRD.CHP = (quint8) rc.kickspeedz;
+
     outputBuffer->wpck.AddRobot(reRD);
 
+
     // grSim Packet
     grRobotData grRD;
-
     grRD.rid    = id;
     grRD.velx   = co.rs.VX;
     grRD.vely   = co.rs.VY;
@@ -106,14 +102,7 @@ bool Agent::grSimPacketIsValid(grRobotData grRD)
     if( !isnan(grRD.velx) && !isnan(grRD.vely) && !isnan(grRD.velw) &&
             !isnan(grRD.wheel1) && !isnan(grRD.wheel2) && !isnan(grRD.wheel3) && !isnan(grRD.wheel4) )
         return  true;
-
     return false;
-}
 
-bool Agent::controllerResultIsValid(ControllerResult co)
-{
-    if( isnan(co.rs.VW) || isnan(co.rs.VX) || isnan(co.rs.VY) )
-        return false;
-
-    return true;
 }
+

src/ai/agent.h

@@ -81,7 +81,7 @@ class Agent : public Robot
 
 private:
     int id;
-    Controller *ctrl;
+    Controller ctrl;
     Navigation nav;
     OutputBuffer *outputBuffer;
     WorldModel *wm;

src/ai/ai.cpp

@@ -21,6 +21,7 @@ AI::AI(WorldModel *worldmodel, QString field_size, OutputBuffer *outputbuffer, Q
     outputbuffer(outputbuffer)
 {
     qDebug() << "AI Initialization...";
+    qDebug()<<"WTF WTF WTF";
     connect(&timer, SIGNAL(timeout()), this, SLOT(timer_timeout()));
 
     Field::setup_consts(field_size);
@@ -52,6 +53,7 @@ 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));
+
 }
 
 void AI::Start()

src/ai/mapsearchnode.cpp

@@ -1,3 +1,4 @@
+
 #include "mapsearchnode.h"
 #include "worldmodel.h"
 
@@ -82,37 +83,102 @@ bool MapSearchNode::GetSuccessors(AStarSearch<MapSearchNode> *astarsearch, MapSe
     wm->navigation_pos.clear();
     //kamin
 
-    for(int i=0; i<obs.size(); i++)
+    for(int i=0; i<obs.size(); i++)//obs.size()//-2// test
     {
         Circle2D obs_circle=obs.at(i);
         int    p_count = 6;
         double p_dist  = obs_circle.radius();//2*ROBOT_RADIUS+BALL_RADIUS; //
 
-        for(int j=0; j<p_count; j++)
-        {
-            Vector2D v(p_dist, p_dist);
-            v.rotate(360/p_count * j);
-            MapSearchNode node = obs[i].center() + v;
-            //kamin
-           bool checkNodeInterference = true;
 
-           for(int g=0;g<obs.size();g++)
+        if(i<obs.size()-2){
+            for(int j=0; j<p_count; j++)
             {
-                if(obs[g].contains(node.vec))
+                Vector2D v(p_dist, p_dist);
+                v.rotate(360/p_count * j);
+                MapSearchNode node = obs[i].center() + v;
+                //kamin
+                bool checkNodeInterference = true;
+
+                for(int g=0;g<obs.size();g++)
                 {
-                    checkNodeInterference = false;
+                    if(obs[g].contains(node.vec))
+                    {
+                        checkNodeInterference = false;
+                    }
                 }
-            }
 
-            if(checkNodeInterference == true)
+                if(checkNodeInterference == true)
+                {
+                    wm->navigation_pos.append(node.vec);
+                //kamout
+                    if(node.vec != parent) astarsearch->AddSuccessor(node);
+                }
+            }
+        }
+        else{
+            int goal_p_count=8;
+            for(int j=0; j<goal_p_count; j++)
             {
-                wm->navigation_pos.append(node.vec);
-            //kamout
-                if(node.vec != parent) astarsearch->AddSuccessor(node);
+                Vector2D v(p_dist, p_dist);
+                v.rotate(360/goal_p_count * j);
+                MapSearchNode node = obs[i].center() + v;
+                //kamin
+                bool checkNodeInterference = true;
+
+                for(int g=0;g<obs.size();g++)
+                {
+                    if(obs[g].contains(node.vec))
+                    {
+                        checkNodeInterference = false;
+                    }
+                }
+
+                if(checkNodeInterference == true)
+                {
+                    wm->navigation_pos.append(node.vec);
+                //kamout
+                    if(node.vec != parent) astarsearch->AddSuccessor(node);
+                }
             }
         }
     }
 
+
+    //test
+//    for(int i=obs.size()-2; i<obs.size(); i++)
+//    {
+//        Circle2D obs_circle=obs.at(i);
+//        int    p_count = 8;
+//        double p_dist  = obs_circle.radius();//2*ROBOT_RADIUS+BALL_RADIUS; //
+
+//        for(int j=0; j<p_count; j++)
+//        {
+//            Vector2D v(p_dist, p_dist);
+//            v.rotate(360/p_count * j);
+//            MapSearchNode node = obs[i].center() + v;
+//            //kamin
+//           bool checkNodeInterference = true;
+
+//           for(int g=0;g<obs.size();g++)
+//            {
+//                if(obs[g].contains(node.vec))
+//                {
+//                    checkNodeInterference = false;
+//                }
+//            }
+
+//            if(checkNodeInterference == true)
+//            {
+//                wm->navigation_pos.append(node.vec);
+//            //kamout
+//                if(node.vec != parent) astarsearch->AddSuccessor(node);
+//            }
+//        }
+//    }
+
+
+    //test
+
     MapSearchNode goal;
     goal.vec = astarsearch->GetSolutionEnd()->vec;
     astarsearch->AddSuccessor(goal);
@@ -146,11 +212,8 @@ float MapSearchNode::GetCost(MapSearchNode &successor)
 QList<Circle2D> MapSearchNode::getObsCircle()
 {
     QList<Circle2D> result;
-
-    double b_rad = ROBOT_RADIUS + 2*BALL_RADIUS;
-    double r_rad = ROBOT_RADIUS * 2;
-
-
+    double b_rad = ROBOT_RADIUS + 2*BALL_RADIUS+50;
+    double r_rad = ROBOT_RADIUS * 2+50;
     if(isBallObs && wm->ball.isValid)
     {
         Circle2D c(wm->ball.pos.loc, b_rad);
@@ -164,7 +227,7 @@ QList<Circle2D> MapSearchNode::getObsCircle()
         Vector2D bloc = wm->ball.pos.loc;
 
         double bang = (bloc - rpos.loc).dir().radian() - rpos.dir;
-        if (bang >  M_PI) bang -= 2 * M_PI;
+        if (bang >  M_PI) bang -= 2 * M_PI;//
         if (bang < -M_PI) bang += 2 * M_PI;
 
         if(fabs(bang) > M_PI_4 * 3 / 4)
@@ -192,6 +255,15 @@ QList<Circle2D> MapSearchNode::getObsCircle()
         result.append(c);
     }
 
+
+
+    Circle2D oppGoal(Field::oppGoalCenter,1000);
+    Circle2D ourGoal(Field::ourGoalCenter,1000);
+
+    result.append(oppGoal);
+    result.append(ourGoal);
+
+
 //    for(int i=0; i<wm->predict_pos.size(); i++)
 //    {
 //        Circle2D c(wm->predict_pos[i], b_rad);

src/ai/play.cpp

@@ -39,7 +39,7 @@ Tactic* Play::getTactic(int id)
 
 bool Play::conditionChanged()
 {
-    bool out;
+    bool out = true;
     QList<int> activeAgents=wm->kn->ActiveAgents();
     if(activeAgents.size() != numberOfPlayers)
     {

src/ai/play/freeKicks/freeKicks.h

@@ -14,6 +14,9 @@
 #include "freekick10.h"
 #include "freekick11.h"
 #include "freekick47.h"
+//armin sadreddin
+#include "freekicktest1.h"
+//armin sadreddin
 
 #include "freekickdirect.h"