Changeset 10847 for code/branches/campaignHS15/src/orxonox/controllers

Timestamp:

Nov 24, 2015, 11:54:47 AM (9 years ago)

Author:

gania

Message:

I hope that you don't code today, that version is not compilable just yet

Location:

code/branches/campaignHS15/src/orxonox/controllers

Files:

• CommonController.cc (modified) (7 diffs)
• CommonController.h (modified) (9 diffs)
• DivisionController.cc (modified) (2 diffs)

code/branches/campaignHS15/src/orxonox/controllers/CommonController.cc

@@ -60 +60 @@
         this->action_ = Action::FLY;
         this->stopLookingAtTarget();
-       
+        this->attackRange_ = 2500;
         RegisterObject( CommonController );
     }
@@ -69 +69 @@
         //orxout(internal_error) << "I died, my Rank is " << rank_ << endl;
     }
-   
+    void CommonController::backupAction()
+    {
+        this->actionpoints_.push_back (this->currentActionpoint_);
+    }
+    void CommonController::restoreAction()
+    {
+        this->currentActionpoint_ = this->actionpoints_.back();
+        this->actionpoints_.pop_back();
+    }
+    void CommonController::popAction()
+    {
+        this->currentActionpoint_ = actionpoints_.back();
+        actionpoints_.pop_back();
+    }
+
     void CommonController::XMLPort( Element& xmlelement, XMLPort::Mode mode )
     {
         SUPER( CommonController, XMLPort, xmlelement, mode );
         XMLPortParam( CommonController, "formationMode", setFormationModeXML, getFormationModeXML,  xmlelement, mode );
-        XMLPortParam( CommonController, "action", setActionXML, getActionXML,  xmlelement, mode );
-        XMLPortParam ( CommonController, "protect", setProtectXML, getProtectXML,  xmlelement, mode );
+        //XMLPortParam( CommonController, "action", setActionXML, getActionXML,  xmlelement, mode );
+        //XMLPortParam ( CommonController, "protect", setProtectXML, getProtectXML,  xmlelement, mode );
         //XMLPortParam ( CommonController, "enemy", setEnemyXML, getEnemyXML,  xmlelement, mode );
+        XMLPortObject(CommonController, WorldEntity, "actionpoints", addActionpoint, getActionpoint,  xmlelement, mode);
+
     }
     void CommonController::setProtectXML( std::string val )
@@ -104 +120 @@
         if (!this->getProtect())
             return "noProtectWasSet";
-        return this->getProtect()->getName();
-    }
-
+        return CommonController::getName (this->getProtect());
+    }
+    std::string CommonController::getName(ControllableEntity* entity)
+    {
+        std::string name = entity->getName();
+        if (name == "")
+        {
+            const void * address = static_cast<const void*>(entity);
+            std::stringstream ss;
+            ss << address;  
+            name = ss.str();            
+        }
+        return name;
+
+    }
     void CommonController::setProtect (ControllableEntity* protect)
     {
@@ -126 +154 @@
         else if ( valUpper == "PROTECT" )
             value = Action::PROTECT;
+        else if ( valUpper == "NONE" )
+            value = Action::NONE;
+        else if ( valUpper == "FIGHTALL" )
+            value = Action::FIGHTALL;
+        else if ( valUpper == "ATTACK" )
+            value = Action::ATTACK;
         else
             ThrowException( ParseError, std::string( "Attempting to set an unknown Action: '" )+ val + "'." );
@@ -149 +183 @@
                 break;
             }
+            case Action::NONE:
+            {
+                return "NONE";
+                break;
+            }
+            case Action::FIGHTALL:
+            {
+                return "FIGHTALL";
+                break;
+            }
+            case Action::ATTACK:
+            {
+                return "ATTACK";
+                break;
+            }
             default:
-                return "FIGHT";
+                return "NONE";
                 break;
         }
@@ -237 +286 @@
        
     }
+    void CommonController::addActionpoint(WorldEntity* actionpoint)
+    {
+        std::string actionName;
+        Vector3 position;
+        std::string targetName;
+        this->actionpoints_.push_back(actionpoint);
+        if (static_cast<Actionpoint*> (actionpoint))
+        {
+            Actionpoint* ap = static_cast<Actionpoint*> (actionpoint);
+            actionName = ap->getActionXML();
+            targetName = ap->get
+            Action::Value value;
+            
+            if ( valUpper == "FIGHT" )
+            {
+                value = Action::FIGHT;
+
+            }
+            else if ( valUpper == "FLY" )
+            {
+                value = Action::FLY;
+
+            }
+            else if ( valUpper == "PROTECT" )
+            {
+                value = Action::PROTECT;
+
+            }
+            else if ( valUpper == "NONE" )
+            {
+                value = Action::NONE;
+
+            }
+            else if ( valUpper == "FIGHTALL" )
+            {
+                value = Action::FIGHTALL;
+
+            }
+            else if ( valUpper == "ATTACK" )
+            {
+                value = Action::ATTACK;
+
+            }
+            else
+                ThrowException( ParseError, std::string( "Attempting to set an unknown Action: '" )+ val + "'." );
+            this->setAction( value );
+        }
+        else
+        {
+            actionName = "FLY";
+        }
+        
+    }
+
+    WorldEntity* CommonController::getActionpoint(unsigned int index) const
+    {
+        if (index < this->actionpoints_.size())
+            return this->actionpoints_[index];
+        else
+            return 0;
+    }
     void CommonController::setClosestTarget()
     {
+        this->setTarget (closestTarget()); 
+    }
+    ControllableEntity* CommonController::closestTarget()
+    {
         if (!this->getControllableEntity())
-            return;
+            return 0;
 
         Pawn* closestTarget = 0;
@@ -259 +373 @@
         if (closestTarget)
         {
-           (this)->setTarget(static_cast<ControllableEntity*>(closestTarget));
-        }   
+           return static_cast<ControllableEntity*>(closestTarget);
+        } 
+        return 0;  
     }
     void CommonController::maneuver() 

code/branches/campaignHS15/src/orxonox/controllers/CommonController.h

@@ -39 +39 @@
 #include "tools/interfaces/Tickable.h"
 #include <limits>
-
+#include "worldentities/Actionpoint.h"
 
 namespace orxonox
@@ -63 +63 @@
         enum Value
         {
-            FLY, FIGHT, PROTECT
+            NONE, FLY, FIGHT, PROTECT, FIGHTALL, ATTACK
         };
     }
@@ -111 +111 @@
                     ControllableEntity* getProtect ();
                 //----[/Protect data]----
+                //----[Actionpoint data]----
+                    void addActionpoint(WorldEntity* waypoint);
+                    WorldEntity* getActionpoint(unsigned int index) const;
+                //----[/Actionpoint data]----
             //----[/XML data]----
 
@@ -134 +138 @@
                 static bool sameTeam (ControllableEntity* entity1, ControllableEntity* entity2, Gametype* gt);
                 static bool isLooking( ControllableEntity* entityThatLooks, ControllableEntity* entityBeingLookedAt, float angle ) ;
+                static std::string getName( ControllableEntity* entity ) ;
 
                 float squaredDistanceToTarget() const;
@@ -166 +171 @@
                 void doFire();
                 void setClosestTarget();
+                ControllableEntity* closestTarget();
 
                 bool bShooting_;
@@ -177 +183 @@
                 Quaternion targetOrientation_;
                 
-                Vector3 destination_;
-                bool bHasDestination;
+               
             //----[/where-to-fly information]----
             //----[protect information]----
@@ -185 +190 @@
             //----[who-to-kill information]----
                 WeakPtr<ControllableEntity> target_;
-                WeakPtr<ControllableEntity> enemy_;
-
+               
                 bool bHasPositionOfTarget_;
                 Vector3 positionOfTarget_;
@@ -193 +197 @@
             //----[/who-to-kill information]----
 
+            //----[Actionpoint information]----
+                std::vector<WeakPtr<WorldEntity> > actionpoints_;
+                float squaredaccuracy_;
+                <tuple<Action::Value ,std::string ,Vector3 > > currentActionpoint_;
+                std::vector<tuple<Action::Value ,std::string ,Vector3 > > parsedActionpoints_;
+            //----[/Actionpoint information]----
             //----["Private" variables]----
                 FormationMode::Value formationMode_;
@@ -198 +208 @@
                 std::string protectName_;
                 Action::Value action_;
+                int attackRange_;
+                
             //----[/"Private" variables]----               
     };

code/branches/campaignHS15/src/orxonox/controllers/DivisionController.cc

@@ -76 +76 @@
 
         
-        if (this->action_ == Action::FIGHT)
+  /*      if (this->target_)
+        {
+            if (CommonController::distance (this->getControllableEntity(), newTarget) < 
+                CommonController::distance (this->getControllableEntity(), target_))
+            {
+                Actionpoint* ap = new Actionpoint(this->getContext());
+                ap->setPosition (0, 0, 0);
+                ap->setActionXML ("FIGHT");
+                //ap->setEnemyXML(CommonController::getName(newTarget));
+                this->addActionpoint (ap);
+            }
+
+        }*/
+        //----Whatever ship is doing, if there are targets close to it and its own target is far away, fight them----
+        //analog to attack move
+        if (this->action_ != Action::FIGHT && this->action_ != Action::FIGHTALL)
+        {
+            if ((this->target_ && CommonController::distance (this->getControllableEntity(), this->target_) > this->attackRange_) ||
+             !this->target_)
+            {
+                ControllableEntity* newTarget = this->closestTarget();
+                if (newTarget && CommonController::distance (this->getControllableEntity(), newTarget) < this->attackRange_)
+                {
+                    this->backupAction();
+                    this->setAction (Action::FIGHT, newTarget);
+                }
+            }
+        }
+        //action is NONE whenever ships finishes current action, 
+        //if it was fighting before because enemies were close, resume what it was doing
+        //otherwise try to execute next action
+        if (this->action_ == Action::NONE)
+        {
+            if (this->bBackuped_)
+            {
+                this->restoreAction();
+            } else if (!this->actionpoints_.empty())
+            {
+                this->popAction();
+            }
+        }
+        if (this->action_ == Action::FIGHT || this->action_ == Action::FIGHTALL)
         {
             if (!this->hasTarget())
             {
                 //----find a target----
-                this->setClosestTarget(); 
-            }
-            else
+                if (this->action_ == Action::FIGHT)
+                {
+                    ControllableEntity* newTarget = this->closestTarget();
+                    if (newTarget && CommonController::distance (this->getControllableEntity(), newTarget) < this->attackRange_)
+                    {
+                        this->setAction (Action::FIGHT, newTarget);
+                    }
+                    else
+                    {
+                        this->setAction (Action::NONE);
+                    }
+                }
+                else if (this->action_ == Action::FIGHTALL)
+                {
+                    this->setClosestTarget();                     
+                }
+
+            }
+            else if (this->hasTarget())
             {
                 //----fly in formation if far enough----
                 Vector3 diffVector = this->positionOfTarget_ - this->getControllableEntity()->getWorldPosition();         
-                if (diffVector.length() > 3000)
+                if (diffVector.length() > this->attackRange_)
                 {
                     this->setTargetPositionOfWingman();
@@ -131 +188 @@
                         this->setProtect (static_cast<ControllableEntity*>(*itP));
                     }
+                }
+                if (!this->getProtect())
+                {
+                    this->setAction (Action::NONE);
                 }
             }