diff --git a/Core/src/LuaModule/kickstatus.pkg b/Core/src/LuaModule/kickstatus.pkg index 5e45802..83e2bb2 100644 --- a/Core/src/LuaModule/kickstatus.pkg +++ b/Core/src/LuaModule/kickstatus.pkg @@ -6,12 +6,9 @@ class CKickStatus { CKickStatus(); void setKick(int num, double power); void setChipKick(int num, double power); - void setBothKick(int num, double kick, double chip); - void setAllKick(int num, double kick, double chip, double pass); bool needKick(int num) const; double getKickPower(int num) const; double getChipKickDist(int num) const; - double getPassDist(int num) const; int getKiker() const; void clearAll(); void resetKick2ForceClose(bool forceClose = false, int forceCloseCycle = 0); diff --git a/Core/src/Main/ActionModule.cpp b/Core/src/Main/ActionModule.cpp index 6f02407..fc51577 100644 --- a/Core/src/Main/ActionModule.cpp +++ b/Core/src/Main/ActionModule.cpp @@ -62,23 +62,15 @@ bool CActionModule::sendAction() { } // 踢：有效的踢控指令 - double kickPower = 0.0; - double chipkickDist = 0.0; - double passdist = 0.0; if (KickStatus::Instance()->needKick(vecNum)) { - // 更新踢相关参数 - kickPower = KickStatus::Instance()->getKickPower(vecNum); - chipkickDist = KickStatus::Instance()->getChipKickDist(vecNum); - passdist = KickStatus::Instance()->getPassDist(vecNum); - // 涉及到平/挑射分档，这里只关系相关参数，实际分档请关注 CommandSender - CPlayerKickV2 kickCmd(vecNum, kickPower, chipkickDist, passdist, dribble); - // 机构动作 - kickCmd.execute(vecNum); + double kickPower = KickStatus::Instance()->getKickPower(vecNum); + double chipkickDist = KickStatus::Instance()->getChipKickDist(vecNum); + bool direct_kick_no_calibration = KickStatus::Instance()->isDirectKickNoCalibration(vecNum); + double direct_kick_power = KickStatus::Instance()->getDirectKickPower(vecNum); + CCommandInterface::instance()->setKick(vecNum, kickPower, chipkickDist, direct_kick_no_calibration, direct_kick_power); } else { - CPlayerKickV2 kickCmd(vecNum, 0, 0, 0, dribble); - kickCmd.execute(vecNum); + CCommandInterface::instance()->setKick(vecNum, 0, 0); } - } /************************************************************************/ diff --git a/Core/src/Utils/misc_types.h b/Core/src/Utils/misc_types.h index 038f6ac..280a165 100644 --- a/Core/src/Utils/misc_types.h +++ b/Core/src/Utils/misc_types.h @@ -54,6 +54,8 @@ struct PlayerStatus{ bool needkick; // 踢球动作执行开关 bool ispass; // 是否进行传球 bool ischipkick; // 挑球还是平射 + bool isDirectNoCalibrationKick; // 是否是直接下发踢球时间参数给硬件（一般用于标定） + double directNoCalibrationKickPower; // 直接下发踢球时间参数给硬件的时间 double kickprecision; // 踢球朝向精度 double kickpower; // 踢球力度 double chipkickpower; // 挑球力度 diff --git a/Core/src/Wireless/PlayerCommandV2.cpp b/Core/src/Wireless/PlayerCommandV2.cpp index 6e6ffd2..32c1c9f 100644 --- a/Core/src/Wireless/PlayerCommandV2.cpp +++ b/Core/src/Wireless/PlayerCommandV2.cpp @@ -65,26 +65,6 @@ double CPlayerSpeedV2::getAffectedRotateSpeed() const return rspeed(); } -/************************************************************************/ -/* Kick */ -/************************************************************************/ -void CPlayerKickV2::execute(int realNum){ - CCommandInterface::instance()->setKick(realNum, _normal, _chip); -} -void CPlayerKickV2::toStream(std::ostream& os) const -{ - os << number(); - if( _normal ){ - if( _pass ){ - os << " pass " << _pass; - }else{ - os << " kick " << _normal; - } - }else{ - os << " chip kick " << _chip; - } -} - /************************************************************************/ /* Gyro(陀螺仪) */ /************************************************************************/ diff --git a/Core/src/Wireless/PlayerCommandV2.h b/Core/src/Wireless/PlayerCommandV2.h index 0c955a0..e0ca568 100644 --- a/Core/src/Wireless/PlayerCommandV2.h +++ b/Core/src/Wireless/PlayerCommandV2.h @@ -22,20 +22,6 @@ class CPlayerSpeedV2 : public CPlayerCommand{ double _rspeed; }; -/************************************************************************/ -/* Kick */ -/************************************************************************/ -class CPlayerKickV2 : public CPlayerCommand{ -public: - CPlayerKickV2(int number, double normal, double chip, double pass, unsigned char dribble) - : CPlayerCommand(number, dribble), _normal(normal), _chip(chip), _pass(pass){ } - virtual void execute(int); - virtual void toStream(std::ostream& os) const; -private: - double _normal; // 普通击球的力度 - double _chip; // 挑球的距离 - double _pass; // 传球的距离 -}; /************************************************************************/ /* Gyro(陀螺仪) */ /************************************************************************/ diff --git a/Core/src/WorldModel/KickStatus.h b/Core/src/WorldModel/KickStatus.h index 728e4e0..74eb76e 100644 --- a/Core/src/WorldModel/KickStatus.h +++ b/Core/src/WorldModel/KickStatus.h @@ -38,7 +38,7 @@ class CKickStatus { /// Specified vehicle. /// Specified kick power. - void setKick(int num, double power) { _normal[num] = power; _chip[num] = _pass[num] = 0; _kicker = num; _needKick[num] = true; } + void setKick(int num, double power) { _normal[num] = power; _chip[num] = 0; _kicker = num; _needKick[num] = true; } /// Sets chip kick. /// @@ -48,32 +48,24 @@ class CKickStatus { /// Specified kick power. void setChipKick(int num, double power) { - _normal[num] = _pass[num] = 0; + _normal[num] = 0; _chip[num] = power; _kicker = num; _needKick[num] = true; } - /// Sets both kick. - /// - /// cliffyin, 2011/7/25. - /// - /// Specified vehicle. - /// The kick distance. - /// The chip distance. - - void setBothKick(int num, double kick, double chip) { _normal[num] = kick; _chip[num] = chip; _pass[num] = 0; _kicker = num; _needKick[num] = true; } - - /// Sets all kick. - /// - /// cliffyin, 2011/7/25. - /// - /// Specified vehicle. - /// The kick power. - /// The chip distance. - /// The pass distance. - - void setAllKick(int num, double kick, double chip, double pass) { _normal[num] = kick; _chip[num] = chip; _pass[num] = pass; _kicker = num; _needKick[num] = true; } + // kick_mode: false for flat kick, true for chip kick + void setDirectKick(int num, bool kick_mode, double power, bool no_calibration = false, double direct_kick_power = 0){ + _normal[num] = kick_mode ? 0 : power; + _chip[num] = kick_mode ? power : 0; + _kicker = num; + _needKick[num] = true; + // use for kick collect calibration data + _direct_kick_no_calibration[num] = no_calibration; + _direct_kick_power[num] = direct_kick_power; + } + bool isDirectKickNoCalibration(int num) const { return _direct_kick_no_calibration[num]; } + double getDirectKickPower(int num) const { return _direct_kick_power[num]; } /// Check If Need kick. /// @@ -101,14 +93,6 @@ class CKickStatus { double getChipKickDist(int num) const { return _chip[num]; } - /// Gets the pass distance. - /// - /// cliffyin, 2011/7/25. - /// - /// The pass distance. - - double getPassDist(int num) const { return _pass[num]; } - /// Gets the kiker. /// /// cliffyin, 2011/7/25. @@ -127,7 +111,8 @@ class CKickStatus { _needKick[vecNum] = false; _normal[vecNum] = 0; _chip[vecNum] = 0; - _pass[vecNum] = 0; + _direct_kick_no_calibration[vecNum] = false; + _direct_kick_power[vecNum] = 0; } _forceClose = false; _forceCloseCycle = 0; @@ -159,12 +144,12 @@ class CKickStatus { /// The chip kick distance double _chip[PARAM::Field::MAX_PLAYER]; // 挑球的距离 - /// The pass kick distance - double _pass[PARAM::Field::MAX_PLAYER]; // 传球的距离 - /// Need kick flag bool _needKick[PARAM::Field::MAX_PLAYER]; + bool _direct_kick_no_calibration[PARAM::Field::MAX_PLAYER]; + double _direct_kick_power[PARAM::Field::MAX_PLAYER]; + bool _forceClose; int _forceCloseCycle;