/// <summary>
/// Activate delay stoppers per current rod before next action
/// </summary>
/// <param name="action">Action to be perfomed</param>
private void ActivateDelay(RodAction action)
{
if (action.Linear != eLinearMove.NA || action.Rotation != eRotationalMove.NA)
{
_sectorWatch[action.RodType] = Stopwatch.StartNew();
}
}
/// <summary>
/// Main Decision Flow Method decides on action and sets property of responding player
/// </summary>
/// <param name="rod">Rod to use for decision</param>
/// <param name="bfc">Ball Future coordinates</param>
/// <returns>Rod Action to perform</returns>
public override RodAction Decide(IRod rod, BallCoordinates bfc)
{
RodAction action = new RodAction(rod.RodType);
//Action will be ignored if not enough time passed since last request was made inside sector
if (!IgnoreDecision(rod.RodType))
{
//Get relative Y position and set Responding Player
eYPositionPlayerRelative relativeY = BallYPositionToPlayerYCoordinate(bfc.Y, rod);
//Get relative X position
eXPositionRodRelative relativeX = BallXPositionToRodXPosition(bfc.X, rod);
/*
* Beta Version of inner DECISION TREE
*/
switch (relativeX)
{
case eXPositionRodRelative.FRONT:
switch (relativeY)
{
case eYPositionPlayerRelative.RIGHT:
case eYPositionPlayerRelative.LEFT:
switch (rod.State.ServoPosition)
{
case eRotationalMove.RISE:
case eRotationalMove.DEFENCE:
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.BALL_Y);
break;
case eRotationalMove.KICK:
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.NA);
break;
}
break;
case eYPositionPlayerRelative.CENTER:
switch (rod.State.ServoPosition)
{
case eRotationalMove.RISE:
case eRotationalMove.DEFENCE:
action = new RodAction(rod.RodType, eRotationalMove.KICK, eLinearMove.NA);
break;
case eRotationalMove.KICK:
if (_helper.IsEnoughSpaceToMove(rod, rod.State.DcPosition, BALL_RADIUS))
{
action = new RodAction(rod.RodType, eRotationalMove.NA, eLinearMove.RIGHT_BALL_DIAMETER);
}
else
{
action = new RodAction(rod.RodType, eRotationalMove.NA, eLinearMove.LEFT_BALL_DIAMETER);
}
break;
}
break;
}
break;
case eXPositionRodRelative.CENTER:
case eXPositionRodRelative.BACK:
switch (relativeY)
{
case eYPositionPlayerRelative.RIGHT:
case eYPositionPlayerRelative.LEFT:
switch (rod.State.ServoPosition)
{
case eRotationalMove.RISE:
action = new RodAction(rod.RodType, eRotationalMove.RISE, eLinearMove.BALL_Y);
break;
case eRotationalMove.DEFENCE:
action = new RodAction(rod.RodType, eRotationalMove.RISE, eLinearMove.NA);
break;
case eRotationalMove.KICK:
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.NA);
break;
}
break;
case eYPositionPlayerRelative.CENTER:
switch (rod.State.ServoPosition)
{
case eRotationalMove.RISE:
action = new RodAction(rod.RodType, eRotationalMove.KICK, eLinearMove.NA);
break;
case eRotationalMove.DEFENCE:
case eRotationalMove.KICK:
if (_helper.IsEnoughSpaceToMove(rod, rod.State.DcPosition, BALL_RADIUS))
{
action = new RodAction(rod.RodType, eRotationalMove.NA, eLinearMove.RIGHT_BALL_DIAMETER);
}
else
{
action = new RodAction(rod.RodType, eRotationalMove.NA, eLinearMove.LEFT_BALL_DIAMETER);
}
break;
}
break;
}
break;
}
Log.Print(String.Format("Defined action for {0}: [{1}] [{2}]", rod.RodType, action.Rotation, action.Linear),
eCategory.Info, LogTag.DECISION);
ActivateDelay(action);
//Define actual desired rod coordinate to move to
int startStopperDesiredY = CalculateNewRodCoordinate(rod, RespondingPlayer, bfc, action.Linear);
action.DcCoordinate = rod.NearestPossibleDcPosition(startStopperDesiredY);
}
else
{
Log.Print(String.Format("Ignoring inner tree of {0} for {1} milliseconds", rod.RodType,
(ACTION_DELAY - _sectorWatch[rod.RodType].Elapsed).TotalMilliseconds), eCategory.Debug, LogTag.DECISION);
}
//Set last decided rod and player coordinates if it was defined
if (action.Linear!=eLinearMove.NA) rod.State.DcPosition = action.DcCoordinate;
if (_helper.ShouldSetServoStateFromTree(rod.RodType))
if (action.Rotation != eRotationalMove.NA) rod.State.ServoPosition = action.Rotation;
return action;
}
/// <summary>
/// Choose player to respond on current rod and action to perform
/// </summary>
/// <param name="rod">Current rod</param>
/// <param name="bfc">Ball Future Coordinates</param>
/// <param name="respondingPlayer">Responding Player index (1 based) on current rod [out]</param>
/// <returns>Rod Action to be performed</returns>
protected RodAction DefineActionAndRespondingPlayer(IRod rod, BallCoordinates bfc, out int respondingPlayer)
{
if (rod == null)
throw new ArgumentException(String.Format(
"[{0}] Unable to define action and responding player while rod argument is NULL!",
MethodBase.GetCurrentMethod().Name));
if (bfc == null || !bfc.IsDefined)
throw new ArgumentException(String.Format(
"[{0}] Unable to define action and responding player while ball coordinates are NULL or UNDEFINED!",
MethodBase.GetCurrentMethod().Name));
RodAction action = null;
respondingPlayer = -1;
switch (_helper.IsBallInSector(bfc.X, rod.RodXCoordinate, rod.DynamicSector))
{
//Ball is in Current Rod Sector
case eXPositionSectorRelative.IN_SECTOR:
action = SubTree.Decide(rod, bfc);
respondingPlayer = SubTree.RespondingPlayer;
break;
/* OLD :
* //The Big Sub Tree
* action = EnterDecisionTreeBallInSector(rod, bfc, out respondingPlayer);
*/
//Ball is ahead of Current Rod Sector
case eXPositionSectorRelative.AHEAD_SECTOR:
//Ball Vector Direction is TO Current Rod and we have intersection point
if (_helper.IsBallVectorToRod(bfc.Vector) &&
rod.Intersection.IsDefined)
{
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.VECTOR_BASED);
//Define responding player index
BallYPositionToPlayerYCoordinate(bfc.Y, rod);
respondingPlayer = this.RespondingPlayer;
}
else
{
//Ball Vector Direction is FROM Current Rod
action = new RodAction(rod.RodType, eRotationalMove.DEFENCE, eLinearMove.BEST_EFFORT);
}
break;
//Ball is behind Current Rod Sector
case eXPositionSectorRelative.BEHIND_SECTOR:
action = new RodAction(rod.RodType, eRotationalMove.RISE, eLinearMove.BEST_EFFORT);
break;
}
return action;
}
