-------------------------------------------------------------------*/ ! */
| 628 | /*! |
| 629 | */ |
| 630 | bool |
| 631 | Agent::doPreprocess() |
| 632 | { |
| 633 | // check tackle expires |
| 634 | // check self position accuracy |
| 635 | // ball search |
| 636 | // check queued intention |
| 637 | // check simultaneous kick |
| 638 | |
| 639 | const WorldModel & wm = this->world(); |
| 640 | |
| 641 | dlog.addText( Logger::TEAM, |
| 642 | __FILE__": (doPreProcess)" ); |
| 643 | |
| 644 | // |
| 645 | // freezed by tackle effect |
| 646 | // |
| 647 | if ( wm.self().isFrozen() ) |
| 648 | { |
| 649 | dlog.addText( Logger::TEAM, |
| 650 | __FILE__": tackle wait. expires= %d", |
| 651 | wm.self().tackleExpires() ); |
| 652 | // face neck to ball |
| 653 | this->setViewAction( new View_Tactical() ); |
| 654 | this->setNeckAction( new Neck_TurnToBallOrScan() ); |
| 655 | return true; |
| 656 | } |
| 657 | |
| 658 | // |
| 659 | // BeforeKickOff or AfterGoal. jump to the initial position |
| 660 | // |
| 661 | if ( wm.gameMode().type() == GameMode::BeforeKickOff |
| 662 | || wm.gameMode().type() == GameMode::AfterGoal_ ) |
| 663 | { |
| 664 | dlog.addText( Logger::TEAM, |
| 665 | __FILE__": before_kick_off" ); |
| 666 | Vector2D move_point = Strategy::i().getPosition( wm.self().unum() ); |
| 667 | Bhv_CustomBeforeKickOff( move_point ).execute( this ); |
| 668 | this->setViewAction( new View_Tactical() ); |
| 669 | return true; |
| 670 | } |
| 671 | |
| 672 | // |
| 673 | // self localization error |
| 674 | // |
| 675 | if ( ! wm.self().posValid() ) |
| 676 | { |
| 677 | dlog.addText( Logger::TEAM, |
| 678 | __FILE__": invalid my pos" ); |
| 679 | Bhv_Emergency().execute( this ); // includes change view |
| 680 | return true; |
| 681 | } |
| 682 | |
| 683 | // |
| 684 | // ball localization error |
| 685 | // |
| 686 | const int count_thr = ( wm.self().goalie() |
| 687 | ? 10 |
nothing calls this directly
no test coverage detected