--- /dev/null
+implementation module RefereeCoach_Slalom_Assignment\r
+\r
+import Referee\r
+\r
+RefereeCoach_Slalom :: !FootballField -> Referee\r
+RefereeCoach_Slalom field = { name = "RefereeCoach_Slalom"\r
+ , brain = { memory = mkMemory\r
+ , ai = randomlessRefereeAI (brain field)\r
+ }\r
+ , refActionPics = []\r
+ }\r
+\r
+:: Stage = Begin | Slalom | Kick | End Success\r
+instance == Stage where == Begin Begin = True\r
+ == Slalom Slalom = True\r
+ == Kick Kick = True\r
+ == (End s1) (End s2) = s1 == s2\r
+ == _ _ = False\r
+\r
+:: Memory = { positions :: ![Position] // all positions of student player, in reverse order\r
+ , stage :: !Stage // the current stage of the training\r
+ , home :: Home // home of student player, determined at Begin\r
+ }\r
+\r
+mkMemory :: Memory\r
+mkMemory = { positions = []\r
+ , stage = Begin\r
+ , home = undef\r
+ }\r
+\r
+slalom :: Memory -> Memory\r
+slalom memory = {memory & stage = Slalom}\r
+\r
+after_kick :: Memory -> Memory\r
+after_kick memory = {memory & stage = Kick}\r
+\r
+fail :: Memory -> Memory\r
+fail memory = {memory & stage = End Fail}\r
+\r
+ok :: Memory -> Memory\r
+ok memory = {memory & stage = End Success}\r
+\r
+position :: Position Memory -> Memory\r
+position p memory = {memory & positions = [p:memory.positions]}\r
+\r
+knownHome :: Home Memory -> Memory\r
+knownHome home memory = {memory & home = home}\r
+\r
+brain :: !FootballField !(!RefereeInput,!Memory) -> (!RefereeOutput,!Memory)\r
+// Assignment has started. Check teams and determine home of student player.\r
+brain field ({RefereeInput | team1,team2},memory=:{stage = Begin})\r
+| not ok_teams = ([TellMessage "Wrong teams selected."],fail memory)\r
+| otherwise = ([DirectFreeKick home ball],position student.pos (slalom (knownHome home memory)))\r
+where\r
+ (ok_teams,home) = case (team1,team2) of\r
+ ([p],[_,_:_]) = (True, West)\r
+ ([_,_:_],[p]) = (True, East)\r
+ otherwise = (False,undef)\r
+ student = if (home == West) (hd team1) (hd team2)\r
+ west_ball_pos = {zero & px = scale -0.5 field.flength + penalty_area_depth}\r
+ ball = if (home == West) (mirror field west_ball_pos) west_ball_pos\r
+// Assignment has ended. Stop training session.\r
+brain _ (_,memory=:{stage = End how})\r
+ = ([TellMessage msg, GameOver],memory)\r
+where\r
+ msg = if (how == Success) "Well done! Move on to next exercise."\r
+ "Improve your assignment and try again."\r
+// Assignment is in slalom or kicking stage.\r
+brain field ({RefereeInput | playingTime=time, theBall=ballState, team1, team2}, memory=:{home,positions,stage})\r
+| time <= zero = ([TellMessage "Out of time."],fail memory) // time's up\r
+| ballIsFree ballState && ballIsOut field ball // ball is out\r
+ # ball_pos = ball.ballPos.pxy\r
+ # (north,south) = goal_poles field\r
+ | not (isbetween ball_pos.py south north) // student did not kick ball in goal\r
+ = ([TellMessage "You should play the ball in the goal."],fail memory)\r
+ | home == West && ball_pos.px < scale -0.5 field.flength + m 1.0 || \r
+ home == East && ball_pos.px > scale 0.5 field.flength - m 1.0 // student kicked ball in wrong goal\r
+ = ([TellMessage "You should play the ball in the other goal."],fail memory)\r
+ | otherwise = ([ContinueGame],ok memory) // student ended exercise correctly\r
+| isMoved action\r
+ | compare_pos student.pos last_pos // student is moving in wrong direction\r
+ = ([TellMessage "You're moving in the wrong direction."],fail memory)\r
+ | any (\other -> dist other student < m 0.5) others // student moves too close to opponents\r
+ = ([TellMessage "Don't move so close to opponents."],fail memory)\r
+ | not up_and_down = ([TellMessage "You're not doing a slalom."],fail memory) // student is not doing slalom\r
+ | otherwise = ([ContinueGame],memory)\r
+| isKickedBall action\r
+ | stage == Kick = ([TellMessage "Don't kick the ball twice."],fail memory) // kick the ball only once\r
+ | otherwise = ([ContinueGame],after_kick memory)\r
+| otherwise = ([TellMessage ("Illegal action. Perform only Move and KickBall. You did: " <+++ typeOfAction action)],fail memory)\r
+where\r
+ ball = getFootball ballState (team1 ++ team2)\r
+ (student,others) = if (home == West) (hd team1,team2) (hd team2,team1)\r
+ action = fromJust student.effect\r
+ last_pos = hd positions\r
+ new_positions = [student.pos : positions]\r
+ compare_px = if (home == West) < >\r
+ compare_pos pos1 pos2 = compare_px pos1.px pos2.px\r
+ close_px pos1 pos2 = abs (pos1.px - pos2.px) <= m 1.0\r
+ line_up_others = sortBy compare_pos (map (\{Footballer | pos} -> pos) others)\r
+ close_encounters = takeWhile (not o isEmpty) [filter (close_px other_pos) new_positions \\ other_pos <- line_up_others]\r
+ up_and_down = isAlternating \r
+ [ map (\studentpos -> studentpos.py < other_pos.py) close_encounter\r
+ \\ close_encounter <- close_encounters\r
+ & other_pos <- line_up_others\r
+ ]\r
+\r
+ballIsOut :: !FootballField !Football -> Bool\r
+ballIsOut field ball = not (point_in_rectangle ({px = scale -0.5 field.flength, py = scale -0.5 field.fwidth}\r
+ ,{px = scale 0.5 field.flength, py = scale 0.5 field.fwidth}\r
+ ) ball.ballPos.pxy)\r
+\r
+typeOfAction :: !FootballerEffect -> String\r
+typeOfAction (Moved _ _) = "Move"\r
+typeOfAction (GainedBall _) = "GainBall"\r
+typeOfAction (KickedBall _) = "KickBall"\r
+typeOfAction (HeadedBall _) = "HeadBall"\r
+typeOfAction (Feinted _) = "Feint"\r
+typeOfAction (Tackled _ _ _) = "Tackle"\r
+typeOfAction (CaughtBall _) = "Catch"\r
+\r
+isAlternating :: [[a]] -> Bool | Eq, ~ a\r
+isAlternating sequences = isEmpty sequences || all isSingleton singletons && map hd singletons == take n (iterate ~ (hd (hd singletons)))\r
+where\r
+ singletons = map removeDup sequences\r
+ n = length sequences\r
repositories / fp1415-soccerfun.git / blobdiff