public void Estimate(double agentX, double agentY, double agentVx, double agentVy,
double puckX, double puckY, double puckVx, double puckVy, double PuckR,
double oppX, double oppY, double oppVx, double oppVy
)
{
AHEntities.SenseEventType newEvent = EstimatorStrategy.Estimate(agentX, agentY, agentVx, agentVy,
puckX, puckY, puckVx, puckVy, PuckR, oppX, oppY, oppVx, oppVy, WM);
if (newEvent == SenseEventType.NoEvent)
{
return;
}
SenseEventArgs senseEvent;
mLogger.AddLogMessage("Perception: new event detected: " + newEvent.ToString() +
", puck velocity: (" + puckVx.ToString() + "," + puckVy.ToString() + ")", true);
if ((newEvent == SenseEventType.yWall) && (puckVx < 0))
{
mLogger.AddLogMessage("Perception: Invoking Refining Of Current Plan");
senseEvent = new SenseEventArgs(SensePlanArg.Refine, newEvent);
}
else
{
mLogger.AddLogMessage("Perception: Invoking New Planing");
senseEvent = new SenseEventArgs(SensePlanArg.Plan, newEvent);
}
OnEstimationUpdate(this, senseEvent);
}
public void PlanNewAction(ActionDirective A, bool isNewPlanning)
{
planTime.Restart();
// target point parameters (for the whole motion)
//if (isNewPlanning)
//bounderyConditions = actionPlanningStrategy.ActionPlanning(A, isNewPlanning);
bounderyConditions = actionPlanningStrategy.ActionPlanning(A, true);
if (bounderyConditions == null)
{
return;
}
state = WM.GetPhysicalState();
Point agentP = new Point(state["AgentX"], state["AgentY"]);
Point agentV = new Point(state["AgentVx"], state["AgentVy"]);
mLogger.AddLogMessage("LowLevel: action planned: agent currently at: " + agentP.ToString() + " and: " + agentV.ToString() + ", target: " + bounderyConditions.ToString());
// initial movement parameters
PointParams initialConditions = new PointParams();
initialConditions.AddParameters(agentP);
initialConditions.AddParameters(agentV);
initialConditions.T = DateTime.Now;
// new trajectory generation
double time = (bounderyConditions.T - initialConditions.T).TotalSeconds;
double[][,] newTrajectory = null;
if ((isNewPlanning) || ((time < maxTime) && (time > 0)))
{
newTrajectory = trajectoryPlanningStrategy.TrajectoryPlanning(initialConditions, bounderyConditions);
}
if (newTrajectory != null)
{
mLogger.AddLogMessage("LowLevel: New Trajectory Designed, Length: " + newTrajectory[0].LongLength.ToString() + " time: " + time.ToString());
commandsQueue.Replace(QueueType.Position, newTrajectory[0]);
// output the whole trajectory to log
//mLogger.AddLogMessage("LowLevel: Trajectory: " + commandsQueue.PositionToString());
commandsQueue.Replace(QueueType.Velocity, newTrajectory[1]);
}
planTime.Stop();
mLogger.AddLogMessage("LowLevel: Planning time was: " + planTime.Elapsed.TotalSeconds.ToString() + " Seconds");
}
public void UpdateGameStrategy()
{
// plan "new" strategy
Dictionary <string, double> s = StrategyPlannerStrategy.PlanStrategy();
// check if old strategy has changed
if (StrategyEquals(s, strategy) == false)
{
strategy = s;
mLogger.AddLogMessage("Strategics: New strategy planned: " + PrintStrategy(s));
// update World Model
WM.UpdateStrategy(s["GameStyle"], s["PLeft"], s["PMiddle"], s["PRight"]);
}
}
public void StartNewPlan(object sender, EventArgs e)
{
ActionDirective tempA;
SenseEventArgs senseE = (SenseEventArgs)e;
Dictionary <string, double> gameState = WM.GetPhysicalState();
Point puckV = new Point(gameState["PuckVx"], gameState["PuckVy"]);
if ((senseE.EventType == SenseEventType.yWall) && (puckV.X > 0))
{
// no replan (prepare action)
currentEvent = senseE.EventType;
mLogger.AddLogMessage("Tactics: No New Action Required: " + currentActionDirective.Action.ToString());
}
else
{
//new plan
if ((currentEvent == senseE.EventType) &&
((currentEvent == SenseEventType.StuckPlayer) || (currentEvent == SenseEventType.StuckAgent)))
{
// no replan
mLogger.AddLogMessage("Tactics: No New Action Required: " + currentActionDirective.Action.ToString());
}
else if ((senseE.EventType == SenseEventType.yWall) && (puckV.X < 0))
{
// need to replan current action
currentEvent = senseE.EventType;
mLogger.AddLogMessage("Tactics: Refining Old Action: " + currentActionDirective.Action.ToString());
PlanningScheduler.MakePlanRequest(senseE.EventType);
}
else
{
currentEvent = senseE.EventType;
tempA = actionSelectionStrategy.SelectAction(senseE.EventType);
//if (tempA.Action != currentActionDirective.Action)
//{
lock (currentActionDirective.ActionDirectiveLock)
{
currentActionDirective.Action = tempA.Action;
currentActionDirective.TimeStamp = senseE.TimeStamp;
currentActionDirective.Duration = tempA.Duration - (DateTime.Now - senseE.TimeStamp);
}
// log action - new action
mLogger.AddLogMessage("Tactics: New Action Selected: " + currentActionDirective.Action.ToString());
PlanningScheduler.MakePlanRequest(senseE.EventType);
/*}
* else
* {
* mLogger.AddLogMessage("Tactics: Old Action Selected: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }*/
}
}
/*
* // new plan required
* if ((senseE.EventType == SenseEventType.AgentCollision) || (senseE.EventType == SenseEventType.OpponentCollision) ||
* (senseE.EventType == SenseEventType.xWall) || (senseE.EventType == SenseEventType.yWall) && (puckV.X < 0))
* {
* tempA = actionSelectionStrategy.SelectAction(senseE.EventType);
* if (tempA.Action != currentActionDirective.Action)
* {
* lock (currentActionDirective.ActionDirectiveLock)
* {
* currentActionDirective.Action = tempA.Action;
* currentActionDirective.TimeStamp = senseE.TimeStamp;
* currentActionDirective.Duration = tempA.Duration - (DateTime.Now - senseE.TimeStamp);
* }
* // log action - new action
* mLogger.AddLogMessage("Tactics: New Action Selected: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }
* else
* {
* mLogger.AddLogMessage("Tactics: Old Action Selected: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }
* }
* else
* {
* // log action
* mLogger.AddLogMessage("Tactics: Refinement Of Active Action: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }*/
/*
* if (senseE.PlanType == SensePlanArg.Plan)
* {
* tempA = actionSelectionStrategy.SelectAction(senseE.EventType);
* // construct the action directive object
* if (tempA.Action != currentActionDirective.Action)
* {
* lock (currentActionDirective.ActionDirectiveLock)
* {
* currentActionDirective.Action = tempA.Action;
* currentActionDirective.TimeStamp = senseE.TimeStamp;
* currentActionDirective.Duration = tempA.Duration - (DateTime.Now - senseE.TimeStamp);
* }
* // log action - new action
* mLogger.AddLogMessage("Tactics: New Action Selected: " + currentActionDirective.Action.ToString());
* }
* else
* {
* if ((currentActionDirective.Action != AHEntities.Action.PREPARE))
* {
* // log action - refinement of current action.
* mLogger.AddLogMessage("Tactics: New (reselection) Action Selected: " + currentActionDirective.Action.ToString());
* }
* }
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }
* else
* {
* // current directive is still valid, need to schedule replanning
* // log action
* mLogger.AddLogMessage("Tactics: Refinement Of Active Action: " + currentActionDirective.Action.ToString());
* PlanningScheduler.MakePlanRequest(senseE.EventType);
* }*/
}
public override PointParams ActionPlanning(AHEntities.ActionDirective action, bool isNewPlaning)
{
AHEntities.Action A = action.Action;
PointParams finalConditions = null;
Random random = new Random();
Point puckP, puckV;
physicalState = worldModel.GetPhysicalState();
puckP = new Point(physicalState["PuckX"], physicalState["PuckY"]);
puckV = new Point(physicalState["PuckVx"], physicalState["PuckVy"]);
global = worldModel.GetSize();
Point crossing;
double[] crossParams;
switch (A)
{
case AHEntities.Action.BLOCK:
#region BLOCK
crossParams = AHEntities.EstimateLineCrossing.Estimate(puckP, puckV, rp,
AHEntities.EstimateLineCrossing.blockLine, global[0], global[1]);
crossing = new Point(AHEntities.EstimateLineCrossing.blockLine, crossParams[0]);
Point defendPoint = AHEntities.EstimateLineCrossing.CalculateActionPoint(crossing,
new Point(crossParams[2], crossParams[3]), rp, rm);
mLogger.AddLogMessage("LowLevel Planning BLOCK: estimated collission: mallet: " + defendPoint.ToString() +
", puck: " + crossing.ToString());
finalConditions = new PointParams();
finalConditions.AddParameters(defendPoint);
finalConditions.AddParameters(new Point(0, 0));
finalConditions.T = DateTime.Now + TimeSpan.FromSeconds(crossParams[1]);
break;
#endregion BLOCK
case AHEntities.Action.LEAVE:
#region LEAVE
finalConditions = null;
break;
#endregion LEAVE
case AHEntities.Action.ATTACK_RIGHT:
#region ATTACK_RIGHT
//finalConditions = CalculateDirectedAttack(AHEntities.Action.ATTACK_RIGHT, puckP, puckV, physicalState["PuckR"],
// AHEntities.EstimateLineCrossing.attackLine, global[0], global[1]);
//break;
#endregion ATTACK_RIGHT
case AHEntities.Action.ATTACK_LEFT:
#region ATTACK_LEFT
//finalConditions = CalculateDirectedAttack(AHEntities.Action.ATTACK_LEFT, puckP, puckV, physicalState["PuckR"],
// AHEntities.EstimateLineCrossing.attackLine, global[0], global[1]);
//break;
#endregion ATTACK_LEFT
case AHEntities.Action.ATTACK_MIDDLE:
#region ATTACK_MIDDLE
crossParams = AHEntities.EstimateLineCrossing.Estimate(puckP, puckV, rp,
AHEntities.EstimateLineCrossing.attackLine, global[0], global[1]);
mLogger.AddLogMessage("LowLevel: Puck Estimated at: (" + AHEntities.EstimateLineCrossing.attackLine.ToString() + "," + crossParams[0].ToString() + ") in " + crossParams[1].ToString() + " seconds");
Point puckPline = new Point(AHEntities.EstimateLineCrossing.attackLine, crossParams[0]);
double velocity = 1000;
finalConditions = CalculateNaiveDirectedAttack(A, puckPline, crossParams[1],
AHEntities.EstimateLineCrossing.attackLine, rp, rm, global[0], global[1], velocity);
break;
#endregion ATTACK_MIDDLE
case AHEntities.Action.DEFENSE_ATTACK:
#region DEFENSE_ATTACK
if (Math.Abs(puckV.X) < 0.01)
{
break;
}
crossParams = AHEntities.EstimateLineCrossing.Estimate(puckP, puckV, rp,
AHEntities.EstimateLineCrossing.defenseAttackLine, global[0], global[1]);
if (crossParams == null)
{
finalConditions = null;
break;
}
crossing = new Point(AHEntities.EstimateLineCrossing.defenseAttackLine, crossParams[0]);
Point attackPoint = AHEntities.EstimateLineCrossing.CalculateActionPoint(new Point(AHEntities.EstimateLineCrossing.defenseAttackLine, crossParams[0]),
new Point(crossParams[2], crossParams[3]), rp, rm);
mLogger.AddLogMessage("LowLevel Planning DEFENSE_ATTACK: estimated collission: mallet: " + attackPoint.ToString() +
", puck estimated at: " + crossing.ToString());
finalConditions = new PointParams();
finalConditions.AddParameters(attackPoint);
double yvel = (attackPoint.Y > 0) ? (yvel = -200) : (yvel = 200);
finalConditions.AddParameters(new Point(500, yvel));
finalConditions.T = DateTime.Now + TimeSpan.FromSeconds(crossParams[1]);
break;
#endregion DEFENSE_ATTACK
case AHEntities.Action.PREPARE:
#region PREPARE
finalConditions = new PointParams();
finalConditions.AddParameters(new Point(-1000, 0));
finalConditions.AddParameters(new Point(0, 0));
finalConditions.T = action.TimeStamp + TimeSpan.FromSeconds(0.5);
break;
#endregion PREPARE
case AHEntities.Action.STUCK_ATTACK:
#region STUCK_ATTACK
double stuckTime;
stuckTime = (action.Duration - (DateTime.Now - action.TimeStamp)).TotalSeconds;
Point stuckAttackPoint = AHEntities.EstimateLineCrossing.EstimateStuck(puckP, puckV, rp, global[0], global[1], stuckTime, rm);
if (stuckAttackPoint == null)
{
finalConditions = null;
break;
}
mLogger.AddLogMessage("LowLevel Planning STUCK_ATTACK: estimated collission: mallet: " + stuckAttackPoint.ToString());
finalConditions = new PointParams();
finalConditions.AddParameters(stuckAttackPoint);
finalConditions.AddParameters(new Point(0, 0));
finalConditions.T = action.TimeStamp + TimeSpan.FromSeconds(stuckTime);
break;
#endregion STUCK_ATTACK
default:
#region default
finalConditions = null;
break;
#endregion default
}
//saving current planning (action and parameters)
lastAction = A;
if (finalConditions != null)
{
if (lastPlan == null)
{
lastPlan = new PointParams();
}
lastPlan.Clear();
lastPlan.AddParameters(finalConditions.GetParamsByIndex(1));
lastPlan.AddParameters(finalConditions.GetParamsByIndex(2));
lastPlan.T = finalConditions.T;
}
else
{
lastPlan = null;
}
return(finalConditions);
}