ChinaOpenSSL系列笔记足球机器人

观察一下： TestDribbleAndKick(吸球射门）

语义

FPS 帧率

DeviceMsg //黄一排

DrawObst //障碍物信息

快捷键：ctrl+p打开
配置一个play: 在 config.lua
简单框架

local testPos = {CGeoPoint:new_local(0,0)
}gPlayTable.CreatePlay{firstState = "run1",["run1"] = {switch = function()    //是否要切换状态    end,Kicker = task.goCmuRush(testPos[1],0),match = ""
},name = "MyTestRun",
applicable ={exp = "a",a = true
},
attribute = "attack",
timeout = 99999
}

报错

语法没问题，语义有问题，报错会在其他地方

一、如何使用switch函数

player.lua

enemy.lua //针对敌方

ball.lua //球速、球的位置、球的朝向

pos.lua //位置相关

bufcnt.lua

...

1、!!延长时间（bufcnt.lua)

bufcnt(cond,buf,cnt)

if bufcnt(true,200) then //当true条件持续满足200帧再执行

return "run2"

2、player.lua(升级)

if bufcnt(player.toTargetDist('Kicker')<10,10) then

return "run2"

二、match 就近匹配

{ } :不匹配，维持状态

[ ] :实时匹配

( ) :每当进行一次states的切换时进行一次匹配

机器人名字：

Assister Special Defender Middle

Leader Breaker Fronter Center ...abcd...

task.lua

框架

task function - skill.lua - skill from c++

task function 中的内容只执行一遍

Play 调试

录制第四栏中的 DeviceMsg ；点击第三栏中的文件夹

查看

FRAREDOFF

FRAREDON 吸球吸了多久

CHIPKICK

FLATKICK

INFRARED 红外触发变1

来回跳动的简单框架

local testPos = {CGeoPoint:new_local(0,0)CGeoPoint:new_local(1000,1000)
}local DEBUG_SWITCH = true;gPlayTable.CreatePlay{firstState = "run1",["run1"] = {switch = function()  if bufcnt(player.toTargetDist("Leader")<5,time) thenreturn "run2"end    end,Leader = task.goCmuRush(testPos[1],0),match = "{L}"
},["run2"] = {switch = function()  if DEBUG_SWITCH thenendif bufcnt(player.toTargetDist("Leader")<5,time) thenreturn "run1"end    end,Leader = task.goCmuRush(testPos[2],0),match = "{L}"
},name = "MyTestRun",
applicable ={exp = "a",a = true
},
attribute = "attack",
timeout = 99999
}

debugEngine.pkg //连接lua和c++

: 表示隐式指针

debugEngine:gui_debug_x(CGeoPoint:new_local(1000,1000))

层

Yourplay.lua/task.lua/play.lua

小车绕球旋转代码实现

local testPos = {CGeoPoint:new_local(0,0),
}
local TOTAL = 4
local speed = 1/4.0
local angle = 0
local radius = 500local p = function(n,TOTAL)return function()local centerX = ball.posX()local centerY = ball.posY()return CGeoPoint:new_local(centerX + radius * math.cos(angle + n*math.pi*2/TOTAL)end
end
gPlayTable.CreatPlay{
fristStates = "tun",
["run"] = {switch = function()angle = angle +math.pi*2/60*speedend,Leader = task.goCmuRush(p(1,TOTAL)),Assister = task.goCmuRush(p(2,TOTAL)),Middle = task.goCmuRush(p(3,TOTAL)),Special = task.goCmuRush(p(4,TOTAL)),math = "{LAMS}"
},name = "MyRun",
applicable = {exp = "a",a = true
},
attribute = "attack",
timeout = 99999
}

绕敌对机器人旋转代码片段实现

local enemeyPos = function(num)return function()return enemy.pos(num)end
end
local p = function(n,TOTAL,pos)return function()ipos = posif type(pos) == 'function' thenipos = pos()elseipos = posendlocal centerX = ipos:x()local centerY = ipos:y()return CGeoPoint:new_local(centerX + radius*math.cos(angle + n*math.pi*2/TOTAL)end
end
gPlayTable.CreatePlay{
firstState = "run",
["run"] = {switch = function()angle = angle +math.pi*2/60*speedend,Leader = task.goCmuRush(p(1,2,enemyPos(1))),Assister = task.goCmuRush(p(2,2,enemyPos(1))),Middle = task.goCmuRush(p(1,2,enemyPos(0))),Special = task.goCmuRush(p(2,2,enemyPos(0))),match = "(LA)(MS)"
},
...

Task.lua 的封装

TestSkill.lua

gPlayTable.CreatePlay{
fristState = "test",
["test"] = {switch = function()end,Leader = task.marking(-3500,0,-2000,2000),match = "{L}"
},name = "TestSkill",
applicable = {exp = "a",a = true
},
attribute = "attack",
timeout = 99999
}

test.lua

function marking(xmin,xmax,ymin,ymax)local num = 0local ourGoal = CGeoPoint:new_local(-param.pitchLength/2.0,0)local drawDebug = function()local p1 = CGeoPoint:new_local(xmin,ymin)local p2 = CGeoPoint:new_local(xmin,ymax)local p3 = CGeoPoint:new_local(xmax,ymin)local p4 = CGeoPoint:new_local(xmax,ymax)debugEngine:gui_debug_line(p1,p2,4)debugEngine:gui_debug_line(p2,p4,4)debugEngine:gui_debug_line(p3,p4,4)debugEngine:gui_debug_line(p1,p3,4)endlocal checkNum = function()local between = function(a,min,max)if a>min and a<max thenreturn trueendreturn falseendlocal num = -1for i=0,param.maxPlayer-1 doif enemy.valid(i) and between(enemy.posX(i),xmin,xmax) and                     between(enemy.posY(i),ymin,ymax)return iendreturn numendlocal ipos = function()local num =checkNum()local enemyPos = enemy.pos(num)if num < 0 thenenemyPos=CGeoPoint:new_local((xmin+xmax)/2.0,(ymin+ymax)/2.0)endlocal reslocal l = (outGoal - enemy.pos(num)):mod()*0.3res = enemy.pos(num) + Util.Polar2Vector(l,(ourGoal - enemy.pos(num)):dir())return resendlocal idir = function(runner)local num = checkNum()local enemyPos = enemy.pos(num)if num < 0 thenenemyPos=CGeoPoint:new_local((xmin+xmax)/2.0,(ymin+ymax)/2.0)endlocal resres = (enemyPos - ourGoal):dir()return resendlocal mexe,mpos = GoCmuRush{pos = ipos,dir = idir,acc = a,flag = f,rec =return {mexe,mpos}
end

盯防配合代码简单实现（需修改）

function waitForAttack()local checkAttacker = function(runner)for i=0,param.maxPlayer-1 dolocal dis = (ball.pos() - player.pos(i)):modif player.valid(i) and dis <1000 and i~= runner thendebugEngine:gui_debug_msg(CGeoPoint:new_local(0,i*200),i..(player.valid(i) and 'T' or 'F')..dis)rerurn iendendreturn -1endlocal ipos = function(runner)local num = checkAttacker(runner)local x = player.posX(num)local y = player.posY(num)local length = param.pitchLength/2return CGeoPoint:new_local(length - x ,-y)endlocal idir = function(runner)return player.toTheiGoalDir(runner)endlocal mexe,mpos = GoCmuRush{pos = ipos,dir = idir ,acc = a,flag=f,rec=r,vel=v}return {mexe,mpos}
end

除了switch、match的，和机器人名称有关的才是table

task有8个参数，

if roleNum ~= -1 then

if task[3] ~= nil then

local mkick = task[3](roleNum) //踢球模式

local mdir = task[4](roleNum) //踢球方向

local mpre = task[5](roleNum) //踢球精度

local mkp = task[6](roleNum) //平射力度

local mcp = task[7](roleNum) //挑射力度

local mflag = task[8]

local isDirOk = world :KickDirArrived(vision:getCycle(),mdir,mpre...

kick.flat 平射

function speed (vx,vy,vdir)

//function speed(vx,vy,vdir,p,f)

local ikick = kick.flat

//local ikick = kick.none

local idir = dir.specified(0)

local ipre = pre.specified(10)

local ikp = kp.specified(2000)

//local ikp = kp.specified(p)

local icp = cp.specified(1000)

local iflag = flag.nothing

local spdX = function()

return vx

local spdY = function()

return vy

local spdW = function()

return vdir

end

local mexe,mpos = Speed{speedX = spdX,

return {mexe,mpos,ikick,idir,ipre,ikp,icp,iflag,

end

机器人控制对比

队伍   路径避障速度性能    性能

ZJUNlict        RRT*                 DSS              Bangbang         3                 1

Tigers            Topo+Bspline capsule         2D-Bang 1                 2

Immortals NOK-RRT         DSS               - 1          3

ER-Force       RRT                 -                     2D-Bang

Other.lua 对手配置

gOppoConfig = {

CornerKick = {1},

...

KickOff = "..." //开球脚本

... //防守

... //捡球

... //点球

}

lua的流程 selectPlay.lua选出当前需要的play

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