Titus Livius (Livy), The History of Rome, Book 31
Cyrus Evans, Ed.

38. There were some who found fault with the king, as guilty of rashness on that day; and with the consul, for want of energy. For Philip, they say, on his part, ought to have avoided coming to action, knowing that in a few days the enemy, having exhausted all the adjacent country, must be reduced to the extremity of want; [2] and that the consul, after having routed the Macedonian cavalry and light infantry, and nearly taken the king himself, ought to have led on his troops directly to the [3??] enemy's camp, where, dismayed as they were, they would have made no stand, and that he might have finished the war in a moment's time. This, like most other matters, was easier to be talked about than to be done. [4] For, if the king had brought the whole of his infantry into the engagement, then, indeed, during the tumult, and while, vanquished and struck with dismay, they fled from the field into their intrenchments, (and even continued their flight from thence on seeing the victorious enemy mounting the ramparts,) the king might have been deprived of his camp. [5] But as some forces of infantry had remained in the camp, fresh and free from fatigue, with outposts before the gates, and guard properly disposed, what would he have done but imitated the rashness of which the king had just now been guilty, by pursuing the routed horse? [6] On the other side, the king's first plan of an attack on the foragers, while dispersed through the fields, would not have been a subject of censure, could he have satisfied himself with a moderate degree of success: [7] and it is the less surprising that he should have made a trial of fortune, as there was a report, that Pleuratus and the Dardanians had set out from home with very numerous forces, and had already passed into Macedonia; [8] so that if he should be surrounded on all sides by these forces, there was reason to think that the Roman might put an end to the war without stirring from his seat. [9] Philip, however, considered, that after his cavalry had been defeated in two engagements, he could with much less safety continue in the same post; accordingly, wish- [p. 1381]ing to remove from thence, and, at the same time, to keep the enemy in ignorance of his design, he sent a herald to the consul a little before sun-set, to demand a truce for the purpose of burying the horsemen; [10] and thus imposing on him, he began his march in silence, about the second watch, leaving a number of fires in all parts of his camp.