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Comentarios na Game.cpp #21

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0326854
Comentarios na Game.cpp
Pogrego Aug 31, 2021
901c7ec
Update Goalkeeper.cpp
Pogrego Aug 31, 2021
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96 changes: 58 additions & 38 deletions src/strategy/Game.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,12 +8,12 @@ Game::Game(int argc, char *argv[])
this->startup(argc, argv);
}

/**
/* **********************************************
* @brief Set network config and team color
*
* @param argc
* @param argv
*/
* *********************************************/
void Game::startup(int argc, char **argv)
{
ArgParse::ArgumentParser parser(argv[0], "GER VSSS FIRASim strategy server");
Expand Down Expand Up @@ -50,24 +50,39 @@ void Game::startup(int argc, char **argv)
<< "Color team: " << (this->is_yellow ? "yellow":"blue") << std::endl;
}

//There's no need to invert after assignement. This doensn't need to be so complex
/* *********************************************************
* @brief takes the ball's positions x and y,
* as well as its vx and vy velocities
* and multiply both of them by (-1)
*
* @obs There's no need to invert after assignement.
* This doensn't need to be so complex
* *********************************************************/
void Game::invert_ball()
{
ball.set_x(-ball.x());
ball.set_y(-ball.y());
ball.set_vx(-ball.vx());
ball.set_vy(-ball.vy());
ball.set_x(-ball.x()); // invert positon x
ball.set_y(-ball.y()); // invert positon y
ball.set_vx(-ball.vx()); // invert speed vx
ball.set_vy(-ball.vy()); // invert speed vy
}

//There's no need to invert after assignement. This doensn't need to be so complex
/* *********************************************************
* @brief takes the robot's positions x and y,
* as well as its vx and vy velocities and its
* orientation on the field and multiply both of
* them by (-1)
*
* @obs There's no need to invert after assignement.
* This doensn't need to be so complex
* *********************************************************/
fira_message::Robot Game::invert_robot(fira_message::Robot &robot)
{
robot.set_x(-robot.x());
robot.set_y(-robot.y());
robot.set_vx(-robot.vx());
robot.set_vy(-robot.vy());
robot.set_orientation(math::wrap_to_pi(robot.orientation() + PI));
robot.set_vorientation(-robot.vorientation());
robot.set_x(-robot.x()); // invert positon x
robot.set_y(-robot.y()); // invert positon y
robot.set_vx(-robot.vx()); // invert speed vx
robot.set_vy(-robot.vy()); // invert speed vy
robot.set_orientation(math::wrap_to_pi(robot.orientation() + PI)); // invert orientation
robot.set_vorientation(-robot.vorientation()); // invert speed orientation

return robot;
}
Expand All @@ -91,18 +106,23 @@ void Game::invert_field_if_yellow()
}
}

/**
/* ****************************************************************
* @brief returns vector of blue or yellow robots
*
* @param is_yellow
* @param frame
* @return vector<Robot>
*/
* ***************************************************************/
vector<fira_message::Robot> Game::detect_robots(bool is_yellow, fira_message::Frame frame)
{
vector<fira_message::Robot> robots;
uint robots_size = is_yellow ? frame.robots_yellow_size() : frame.robots_blue_size();

// Ternary command: If the identified robot is yellow, it will mark the robots_size as team yellow.
// Else, it will mark the robots_size as team blue.
uint robots_size = is_yellow ? frame.robots_yellow_size() : frame.robots_blue_size();
robots.resize(robots_size);

// Runs a for command to assign each robots_size prevviously marked to its respective robot
for (uint i = 0; i < robots_size; ++i)
{
robots[i] = is_yellow ? frame.robots_yellow(i) : frame.robots_blue(i);
Expand All @@ -111,42 +131,42 @@ vector<fira_message::Robot> Game::detect_robots(bool is_yellow, fira_message::Fr
return robots;
}

/**
/* *****************************************************************************
* @brief stores state of current game objects into Game attributes
*
* @param frame current game frame
*/
* *****************************************************************************/
void Game::detect_objects(fira_message::Frame &frame)
{
this->ball = frame.ball();
this->my_robots = detect_robots(this->is_yellow, frame);
this->enemy_robots = detect_robots(!this->is_yellow, frame);
this->ball = frame.ball(); // detect ball
this->my_robots = detect_robots(this->is_yellow, frame); // detect my robot
this->enemy_robots = detect_robots(!this->is_yellow, frame); // detect enemy robot

// TODO MOVE THIS
invert_field_if_yellow();
this->robots = my_robots;
this->robots.insert(robots.end(), enemy_robots.begin(), enemy_robots.end());
}

/**
/* ***********************************************************************
* @brief return closest robots index to ball
*
* @return int
*/
* ************************************************************************/
unsigned int Game::robot_next_to_ball(Attacker &atk, Midfielder &mid)
{
double atk_ball_dist = atk.future_dist_to(ball);
double mid_ball_dist = mid.future_dist_to(ball);
double atk_ball_dist = atk.future_dist_to(ball); // distance between ball and attacker
double mid_ball_dist = mid.future_dist_to(ball); // distance between ball and midfielder

return (mid_ball_dist < atk_ball_dist) ?
mid.get_robot().robot_id() :
atk.get_robot().robot_id();
return (mid_ball_dist < atk_ball_dist) ? // ternary question:
mid.get_robot().robot_id() : // if midfielder is closest, return midfielder's ID
atk.get_robot().robot_id(); // else, attacker is closest, return attacker's ID
}

/**
/* **************************************************************************
* @brief switch atk and mid depending on which one is closer to ball
* @todo dynamic gkp
*/
* **************************************************************************/
void Game::select_roles(Goalkeeper &gkp, Attacker &atk, Midfielder &mid)
{
int new_atk_id = robot_next_to_ball(atk, mid);
Expand All @@ -158,9 +178,9 @@ void Game::select_roles(Goalkeeper &gkp, Attacker &atk, Midfielder &mid)
// TODO POLYMORPHISM WITH PLAYER
void Game::send_commands(VSSClient &sim_client)
{
Goalkeeper gkp(my_robots[0]);
Attacker atk(my_robots[1]);
Midfielder mid(my_robots[2]);
Goalkeeper gkp(my_robots[0]); // goalkeeper is robot number 0
Attacker atk(my_robots[1]); // attacker is robot number 1
Midfielder mid(my_robots[2]); // midfielder is robot number 2

// FUNCTION HAS MORE THAN ONE FUNCTIONALITY
select_roles(gkp, atk, mid);
Expand All @@ -169,9 +189,9 @@ void Game::send_commands(VSSClient &sim_client)
ctrl::vec2 atk_command = atk.play(this->ball, this->robots);
ctrl::vec2 mid_command = mid.play(this->ball, this->robots);

sim_client.sendCommand(gkp.get_robot().robot_id(), gkp_command.x, gkp_command.y);
sim_client.sendCommand(atk.get_robot().robot_id(), atk_command.x, atk_command.y);
sim_client.sendCommand(mid.get_robot().robot_id(), mid_command.x, mid_command.y);
sim_client.sendCommand(gkp.get_robot().robot_id(), gkp_command.x, gkp_command.y); // goalkeeper receives its command from strategy
sim_client.sendCommand(atk.get_robot().robot_id(), atk_command.x, atk_command.y); // attacker receives its command from strategy
sim_client.sendCommand(mid.get_robot().robot_id(), mid_command.x, mid_command.y); // midfielder receives its command from strategy
}

void Game::run()
Expand All @@ -186,7 +206,7 @@ void Game::run()

fira_message::sim_to_ref::Environment packet;

while (true)
while (true) // this while detect objets in real time and then send commands
{
if (client.receive(packet) && packet.has_frame())
{
Expand Down
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