@Override
public void putWorldState(WorldData aWorldState) {
synchronized (this) {
if (aWorldState instanceof RawWorldData) {
mWorldState = (RawWorldData) aWorldState;
}
if (aWorldState != null
&& mWorldState.getReferencePoints() != null
&& !mWorldState.getReferencePoints().isEmpty()) {
mNeedNewAction = true;
} else {
mNeedNewAction = false;
}
}
}
public Action startWorking(RawWorldData aWorldData) {
/**
* ------------ HELP -------------- Variable vWorldState contains synchronized copy of current
* enviroment. Use the vWorldState to get soccer field positions or players positions.
*
* <p>Every position is stored as ReferencePoint. There are also subtypes like BallPosition,
* FellowPlayer, .. You can use all of them like a ReferencePoint for calculation. Every
* ReferencePoint contains polar coordinates (distance and angle to point). The current agent is
* the center of coordinate space and always views into direction of 0 degree. So the soccer
* field is turning around the agent! Try to use polar coordinates as often as possible. It's
* also possible to calculate the carthesian coordinates (x and y) of a ReferencePoint, but this
* is not recommended, because it needs some time and more mathematics to do this. So it's more
* efficient to use polar coordinate space.
*
* <p>You can also use static function from bot_mrlib library to access high level functions for
* generating Actions you want to do or for calculation of several positions on the field. Take
* a look at https://northernstars.github.io/MR-FWNS/userguide/04_bot_mrlib.html for more
* details.
*
* <p>This functions needs calculate an Action for the agent that could be either a Movement or
* a Kick. Save the calculated Action using vAction to synchronize your action with global
* mAction that is is used by the framework to send your Action to the server.
*
* <p>You can also use the BotINformation object mSelf that contains information about the
* current agent, like Team or IDs. It also contains some game values like the range around the
* ball, within the agent can kick the ball (called kick range).
*
* <p>For more details about how to implement an artifical intelligence, refer to the other
* examples or take a look at https://northernstars.github.io/MR-FWNS/tutorials/createai.html
*/
// Getting current play mode
PlayMode vPlayMode = aWorldData.getPlayMode();
// Check for kick off
if (vPlayMode == PlayMode.KickOff
|| (vPlayMode == PlayMode.KickOffYellow && mSelf.getTeam() == Teams.Yellow)
|| (vPlayMode == PlayMode.KickOffBlue && mSelf.getTeam() == Teams.Blue)) {
// --------------- KICK OFF ---------------
// --------------- KICK OFF END ---------------
}
// No kick off
else {
// --------------- START AI -------------------
// ---------------- END AI --------------------
}
return Movement.NO_MOVEMENT;
}