soccertypes.c

uva trilearn的robocup源程序

      break;
    case 'F':                       // (F) unkown flag very close.. ignored
      o = OBJECT_UNKNOWN; break;
    case 'f':                       // (f ...),  many options...
      switch( ptrStr[3] )
      {
        case 'l':                   // (f l ... lines on left part of field
          if( ptrStr[6] == ')' )    // only one character at index '5'
          {
            switch( ptrStr[5] )
            {
              case '0': o = OBJECT_FLAG_L_0; break; // (f l 0)
              case 't': o = OBJECT_FLAG_L_T; break; // (f l t)
              case 'b': o = OBJECT_FLAG_L_B; break; // (f l b)
              default:  o = OBJECT_ILLEGAL;  break;
            }
          }
          else                      // more than one character from index '5'
          {
            switch( ptrStr[7] )
            {
              case '1':             // (f l t 10) or (f l b 10)
                o = (ptrStr[5]=='t')? OBJECT_FLAG_L_T_10 :OBJECT_FLAG_L_B_10;
                break;
              case '2':             // (f l t 20) or (f l b 20)
                o = (ptrStr[5]=='t')? OBJECT_FLAG_L_T_20 :OBJECT_FLAG_L_B_20;
                break;
              case '3':             // (f l t 30) or (f l b 30)
                o = (ptrStr[5]=='t')? OBJECT_FLAG_L_T_30 :OBJECT_FLAG_L_B_30;
                break;
              default:
                o = OBJECT_ILLEGAL;
                break;
            }
          }
          break;
        case 'r':                   // (f r ... lines on right side of field
          if( ptrStr[6] == ')' )    // only one character at index '5'
          {
            switch( ptrStr[5] )
            {
              case '0': o = OBJECT_FLAG_R_0; break; // (f l 0)
              case 't': o = OBJECT_FLAG_R_T; break; // (f l t)
              case 'b': o = OBJECT_FLAG_R_B; break; // (f l b)
            }
          }
          else
          {
            switch( ptrStr[7] )     // more than one character from index '5'
            {
              case '1':
                o = (ptrStr[5]=='t')? OBJECT_FLAG_R_T_10 :OBJECT_FLAG_R_B_10;
                break;
              case '2':             // (f r t 10) or (f r b 10)
                o = (ptrStr[5]=='t')? OBJECT_FLAG_R_T_20 :OBJECT_FLAG_R_B_20;
                break;              // (f r t 20) or (f r b 20)
              case '3':
                o = (ptrStr[5]=='t')? OBJECT_FLAG_R_T_30 :OBJECT_FLAG_R_B_30;
                break;              // (f r t 30) or (f r b 30)
              default:
                o = OBJECT_ILLEGAL;
                break;
            }
          }
          break;
        case 't':                   // lines on top part of field
          if( ptrStr[5] == '0' )
            o = OBJECT_FLAG_T_0;    // (f t 0) center flag
          else
          {
            switch( ptrStr[7] )     // rest of the top flags
            {
              case '1':             // (f t l 10) or (f t r 10)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_T_L_10 : OBJECT_FLAG_T_R_10;
                break;
              case '2':             // (f t l 20) or (f t r 20)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_T_L_20 : OBJECT_FLAG_T_R_20;
                break;
              case '3':             // (f t l 30) or (f t r 30)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_T_L_30 : OBJECT_FLAG_T_R_30;
                break;
              case '4':             // (f t l 40) or (f t r 40)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_T_L_40 : OBJECT_FLAG_T_R_40;
                break;
              case '5':             // (f t l 50) or (f t r 50)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_T_L_50 : OBJECT_FLAG_T_R_50;
                break;
            }
          }
          break;
        case 'b':                   // lines on bottom part of field
          if( ptrStr[5] == '0')
            o = OBJECT_FLAG_B_0;    // (f b 0) center flag
          else
          {
            switch( ptrStr[7] )     // rest of the bottom flags
            {
              case '1':             // (f b l 10) or (f b r 10)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_B_L_10 : OBJECT_FLAG_B_R_10;
                break;
              case '2':             // (f b l 20) or (f b r 20)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_B_L_20 : OBJECT_FLAG_B_R_20;
                break;
              case '3':             // (f b l 30) or (f b r 30)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_B_L_30 : OBJECT_FLAG_B_R_30;
                break;
              case '4':             // (f b l 40) or (f b r 40)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_B_L_40 : OBJECT_FLAG_B_R_40;
                break;
              case '5':             // (f b l 50) or (f b r 50)
                o = (ptrStr[5]=='l') ? OBJECT_FLAG_B_L_50 : OBJECT_FLAG_B_R_50;
                break;
            }
          }
          break;
        case 'c':                   // center flags
          if( ptrStr[4] == ')' )
            o = OBJECT_FLAG_C;      // (f c) flag in midpoint field
          else                      // (f c t) or (f c b)
            o = (ptrStr[5] == 't') ? OBJECT_FLAG_C_T : OBJECT_FLAG_C_B;
          break;
        case 'g':                   // goal flags
          if( ptrStr[5] == 'l' )    // (g l t) or (g l b)
            o = (ptrStr[7] == 't') ? OBJECT_FLAG_G_L_T : OBJECT_FLAG_G_L_B;
          else                      // (g r t) or (g r b)
            o = (ptrStr[7] == 't') ? OBJECT_FLAG_G_R_T : OBJECT_FLAG_G_R_B;
          break;
        case 'p':                   // flags at sides penalty area
          switch( ptrStr[7] )
          {
            case 't':               // (p l t) or (p r t) top penalty area
              o = (ptrStr[5] == 'l') ? OBJECT_FLAG_P_L_T : OBJECT_FLAG_P_R_T;
              break;
            case 'c':               // (p l c) or (p r c) center penalty area
              o = (ptrStr[5] == 'l') ? OBJECT_FLAG_P_L_C : OBJECT_FLAG_P_R_C;
              break;
            case 'b':               // (p l b) or (p r b) bottom penalty area
              o = (ptrStr[5] == 'l') ? OBJECT_FLAG_P_L_B : OBJECT_FLAG_P_R_B;
              break;
            default:
              o = OBJECT_ILLEGAL;
              break;
          }
          break;
        default:
          o = OBJECT_ILLEGAL;
      }
      break; // end flags (finally)
  case 'p': // (p team nr) or (p team) or (p) player teammate or opponent
  case 'P': // or (P)
    ptrStr += 2;


    if( Parse::gotoFirstSpaceOrClosingBracket(&ptrStr) == ')' )
      o = OBJECT_PLAYER_UNKNOWN; // if (p) or (P) player is unknown.
    // check also with quotes since later versions use string around "teamname"
    else if( strncmp( ptrStr+1, strMyTeamName, strlen( strMyTeamName ) ) == 0 ||
             strncmp( ptrStr+2, strMyTeamName, strlen( strMyTeamName ) ) == 0 )
    {
      ptrStr++;
      if( Parse::gotoFirstSpaceOrClosingBracket(&ptrStr) == ' ' )
      {                                               // also team number
        switch( Parse::parseFirstInt( &ptrStr ) )     // get team number
        {
          case 1:  o = OBJECT_TEAMMATE_1;  break;     // and find team member
          case 2:  o = OBJECT_TEAMMATE_2;  break;
          case 3:  o = OBJECT_TEAMMATE_3;  break;
          case 4:  o = OBJECT_TEAMMATE_4;  break;
          case 5:  o = OBJECT_TEAMMATE_5;  break;
          case 6:  o = OBJECT_TEAMMATE_6;  break;
          case 7:  o = OBJECT_TEAMMATE_7;  break;
          case 8:  o = OBJECT_TEAMMATE_8;  break;
          case 9:  o = OBJECT_TEAMMATE_9;  break;
          case 10: o = OBJECT_TEAMMATE_10; break;
          case 11: o = OBJECT_TEAMMATE_11; break;
          default: o = OBJECT_ILLEGAL;
        }
        if( ptrStr[0] != ')' && ptrStr[1] == 'g' ) // goalie
          *isGoalie = true;
      }
      else
        o = OBJECT_TEAMMATE_UNKNOWN;                  // (p team) but no nr
    }
    else                                              // not a teammate
    {
      ptrStr++;
      if( Parse::gotoFirstSpaceOrClosingBracket( &ptrStr ) == ' ' )
      {                                               // also team number
        switch( Parse::parseFirstInt( &ptrStr ) )     // get team numer
        {
          case 1:  o = OBJECT_OPPONENT_1;  break;     // and return opponent
          case 2:  o = OBJECT_OPPONENT_2;  break;
          case 3:  o = OBJECT_OPPONENT_3;  break;
          case 4:  o = OBJECT_OPPONENT_4;  break;
          case 5:  o = OBJECT_OPPONENT_5;  break;
          case 6:  o = OBJECT_OPPONENT_6;  break;
          case 7:  o = OBJECT_OPPONENT_7;  break;
          case 8:  o = OBJECT_OPPONENT_8;  break;
          case 9:  o = OBJECT_OPPONENT_9;  break;
          case 10: o = OBJECT_OPPONENT_10; break;
          case 11: o = OBJECT_OPPONENT_11; break;
          default: o = OBJECT_ILLEGAL;
        }
        if( ptrStr[0] != ')' && ptrStr[1] == 'g' ) // goalie
          *isGoalie = true;
      }
      else
        o = OBJECT_OPPONENT_UNKNOWN;                  // number not known

    }
    break;
  default:
    cerr << "(SoccerTypes::getObjectFromStr) Unknown msg: " <<  ptrStr << endl;
    char buf[1000];
    printf("%d, %s\n", o, SoccerTypes::getObjectStr(buf,o,"1") );
    break;
  }
  // go to the end of the object
  Parse::gotoFirstOccurenceOf( ')', &ptrStr );
  *str=ptrStr;
  return o;
}

/*! This method returns the index of an object relative to the first object
    in that set.
    The index is always 1 smaller than its number, so OBJECT_OPPONENT_1
    will become 0. This can be used for indexing an array of objects.
    \param o ObjectT type of object of which the index has to be calculated
    \return index of object or -1 when o was not a correct object */
int SoccerTypes::getIndex( ObjectT o )
{
  if( o >= OBJECT_OPPONENT_1 && o <= OBJECT_OPPONENT_11 )
    return o - OBJECT_OPPONENT_1;
  else if( o >= OBJECT_TEAMMATE_1 && o <= OBJECT_TEAMMATE_11 )
    return o - OBJECT_TEAMMATE_1;
  else if( o >= OBJECT_GOAL_L && o <= OBJECT_GOAL_R )
    return o - OBJECT_GOAL_L;
  else if( o >= OBJECT_FLAG_L_T && o <= OBJECT_FLAG_C )
    return o - OBJECT_FLAG_L_T + 2; // 2 added for the two goals
  else if( o >= OBJECT_LINE_L && o <= OBJECT_LINE_T )
    return o - OBJECT_LINE_L;
  else
    return -1;
}

/*! This method returns the object type of a teammate with index iIndex. When
    iIndex equals 3 for example OBJECT_TEAMMATE_4 is returned.
    \param iIndex index of teammate range is [0..10]
    \return object type corresponding to this index */
ObjectT SoccerTypes::getTeammateObjectFromIndex( int iIndex )
{
  return (ObjectT) ( OBJECT_TEAMMATE_1 + iIndex );
}

/*! This method returns the object type of an opponent with index iIndex. When
    iIndex equals 9 for example OBJECT_OPPONENT_10 is returned.
    \param iIndex index of opponent range is [0..10]
    \return object type corresponding to this index */
ObjectT SoccerTypes::getOpponentObjectFromIndex( int iIndex )
{
  return (ObjectT) ( OBJECT_OPPONENT_1 + iIndex );
}

/*! This method returns a boolean indicating whether the object o is part of the
    object set o_s. OBJECT_TEAMMATE_1 as o and OBJECT_SET_TEAMMATES will
    return for example the value true.
    \param o ObjectT of which should be checked whether it is a part of o_s
    \param o_s ObjectSet in which o should be
    \return true when o is included in set o_s, false otherwise */
bool SoccerTypes::isInSet( ObjectT o, ObjectSetT o_g )
{
  switch( o_g )
  {
    case OBJECT_SET_TEAMMATES: return isTeammate( o ) && isKnownPlayer( o );
    case OBJECT_SET_OPPONENTS: return isOpponent( o ) && isKnownPlayer( o );
    case OBJECT_SET_PLAYERS:   return isPlayer  ( o ) && isKnownPlayer( o );
    case OBJECT_SET_FLAGS:     return isFlag    ( o );
    case OBJECT_SET_LINES:     return isLine    ( o );
    case OBJECT_SET_ILLEGAL:
    default:                   return false;
  }
  return false;
}
/*! This method determines whether object o is a flag.
    \param o an object type
    \return bool indicating whether o is a flag (return true) or not (false) */
bool SoccerTypes::isFlag( ObjectT o )
{
  return ( o >= OBJECT_FLAG_L_T && o <= OBJECT_FLAG_C ) ||
         ( o >= OBJECT_GOAL_L   && o <= OBJECT_GOAL_R        );
}

/*! This method determines whether object o is a line.
     \param o an object type
     \return bool indicating whether o is a line return true) or not (false) */
bool SoccerTypes::isLine( ObjectT o )
{
  return o >= OBJECT_LINE_L && o <= OBJECT_LINE_T;
}

/*! This method determines whether object o is a goal
    \param o an object type
    \return bool indicating whether o is a goal (return true) or not (false) */
bool SoccerTypes::isGoal( ObjectT o )
{
  return o == OBJECT_GOAL_L || o == OBJECT_GOAL_R;
}

/*! This method determines whether object o is a teammate
    \param o an object type
    \return bool indicating whether o is a teammate (true) or not (false) */
bool SoccerTypes::isTeammate( ObjectT o )
{
  return o >= OBJECT_TEAMMATE_1 && o <= OBJECT_TEAMMATE_UNKNOWN;
}

/*! This method determines whether object o is an opponent
    \param o an object type
    \return bool indicating whether o is an opponent (true) or not (false) */
bool SoccerTypes::isOpponent( ObjectT o )
{
  return o >= OBJECT_OPPONENT_1 && o <= OBJECT_OPPONENT_UNKNOWN;
}