main.c

uva trilearn的robocup源程序

/*
Copyright (c) 2000-2002, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without 
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this 
list of conditions and the following disclaimer. 

2. Redistributions in binary form must reproduce the above copyright notice, 
this list of conditions and the following disclaimer in the documentation 
and/or other materials provided with the distribution. 

3. Neither the name of the University of Amsterdam nor the names of its 
contributors may be used to endorse or promote products derived from this 
software without specific prior written permission. 

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE 
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*! \file main.C
<pre>
<b>File:</b>          main.C
<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn
<b>Authors:</b>       Jelle Kok
<b>Created:</b>       28/11/2000
<b>Last Revision:</b> $ID$
<b>Contents:</b>      This file contains the main of the program that is used
               to start the agent. It creates all classes, starts the different 
               threads and calls the mainloop. Furthermore it parses the
               specified arguments to adjust the variables.
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
28/11/2000       Jelle Kok       Initial version created
</pre>
*/


#include "SenseHandler.h"
#include "Player.h"
#include "Parse.h"
#include <string.h>   // needed for strcpy
#include <pthread.h>  // needed for pthread_create
#include <stdlib.h>   // needed for exit

extern Logger Log; /*!< This is a reference to the Logger to write log info to*/
void printOptions( );

/*! This is the main function and creates and links all the different classes.
    First it reads in all the parameters from the command prompt
    (<program name> -help) and uses these values to create the classes. After 
    all the classes are linked, the mainLoop in the Player class is called. */
int main( int argc, char * argv[] )
{
  pthread_t      listen, sense;
  ServerSettings ss;
  PlayerSettings cs;

  // define variables for command options and initialize with default values
  char     strTeamName[MAX_TEAM_NAME_LENGTH] = "UvA_Trilearn";
  int      iPort                             = ss.getPort();
  int      iMinLogLevel                      = 0;
  int      iMaxLogLevel                      = 0;  
  char     strHost[128]                      = "localhost";
  double   dVersion                          = 8.08;
  int      iMode                             = 0;
  char     strFormations[128]                = "formations.conf";
  int      iNr                               = 2;
  int      iReconnect                        = -1;
  bool     bInfo                             = false;
  bool     bSuppliedLogFile                  = false;
  ofstream os;

  // read in all the command options and change the associated variables
  // assume every two values supplied at prompt, form a duo
  char * str;
  for( int i = 1 ; i < argc ; i = i + 2  )
  {
    // help is only option that does not have to have an argument
    if( i + 1 >= argc && strncmp( argv[i], "-help", 3 ) != 0 )
    {
      cout << "Need argument for option: " << argv[i] << endl;
      exit( 0 );
    }
    // read a command option
    if( argv[i][0] == '-' && strlen( argv[i] ) > 1)
    {
      switch( argv[i][1] )
      {
        case '?':                                   // print help
          printOptions( );
          exit(0);
          break;
        case 'c':                                   // clientconf file
          if( cs.readValues( argv[i+1], ":" ) == false )
            cerr << "Error in reading client file: " << argv[i+1] << endl;
          break;
        case 'f':                                   // formations file
          strcpy( strFormations, argv[i+1] );
          break;
        case 'h':                                   // host server or help
          if( strlen( argv [i]) > 2 && argv[i][2] == 'e' )
          {
            printOptions( );
            exit(0);
          }
          else
            strcpy( strHost, argv[i+1] );
          break;
        case 'i':                                   // info 1 0
          str   = &argv[i+1][0];
          bInfo = (Parse::parseFirstInt( &str ) == 1 ) ? true : false ;
          break;
        case 'l':                                   // loglevel int[..int]
          str = &argv[i+1][0];
          iMinLogLevel = Parse::parseFirstInt( &str );
          while( iMinLogLevel != 0 )
          {
            if( *str == '.' || *str == '-') // '.' or '-' indicates range 
            {
              *str++;
              iMaxLogLevel = Parse::parseFirstInt( &str );            
              if( iMaxLogLevel == 0 ) iMaxLogLevel = iMinLogLevel;
              Log.addLogRange( iMinLogLevel, iMaxLogLevel );
            }
            else
              Log.addLogLevel( iMinLogLevel );
            iMinLogLevel = Parse::parseFirstInt( &str );                          
          }
          break;
        case 'm':                                   // mode int
          str = &argv[i+1][0];
          iMode = Parse::parseFirstInt( &str );
          break;
        case 'n':                                   // number in formation int
          str = &argv[i+1][0];
          iNr = Parse::parseFirstInt( &str );
          break;
        case 'o':                                   // output file log info
          os.open( argv[i+1] );
          bSuppliedLogFile = true;
          break;
        case 'p':                                   // port
          str = &argv[i+1][0];
          iPort = Parse::parseFirstInt( &str );
          break;
        case 'r':                                   // reconnect 1 0
          str = &argv[i+1][0];
          iReconnect = Parse::parseFirstInt( &str );
          break;
        case 's':                                   // serverconf file
          if( ss.readValues( argv[i+1], ":" ) == false )
            cerr << "Error in reading server file: " << argv[i+1] << endl;
          break;
        case 't':                                   // teamname name
          strcpy( strTeamName, argv[i+1] );
          break;
        case 'v':                                   // version version
          str = &argv[i+1][0];
          dVersion = Parse::parseFirstDouble( &str );
          break;
        default:
          cerr << "(main) Unknown command option: " << argv[i] << endl;
      }
    }
  }


  if( bInfo == true )
    cout << "team         : "  << strTeamName    << endl <<
            "port         : "  << iPort          << endl <<
            "host         : "  << strHost        << endl <<
            "version      : "  << dVersion       << endl <<
            "mode         : "  << iMode          << endl <<
            "playernr     : "  << iNr            << endl <<
            "reconnect    : "  << iReconnect     << endl ;
 
  if( bSuppliedLogFile == true )
    Log.setOutputStream( os );                   // initialize logger
  else
    Log.setOutputStream( cout );  
  Log.restartTimer( );

  Formations fs( strFormations, FT_433_OFFENSIVE, iNr-1 );// read formations file
  WorldModel wm( &ss, &cs, &fs );              // create worldmodel
  Connection c( strHost, iPort, MAX_MSG );     // make connection with server
  ActHandler a( &c, &wm, &ss );                // link actHandler and worldmodel
  SenseHandler s( &c, &wm, &ss, &cs );         // link senseHandler with wm
  Player bp( &a, &wm, &ss, &cs, &fs, strTeamName, dVersion, iReconnect );
                                               // create player
  pthread_create( &sense, NULL, sense_callback  , &s); // start listening

  if( iMode > 0 ) // only listen to standard input when not playing
    pthread_create( &listen, NULL, stdin_callback, &bp); 

  if( iMode == 0 )
    bp.mainLoop();
  else if( iMode == 1 )
    bp.test_only_update();

  c.disconnect();
  os.close();
}

/*! This function prints the command prompt options that can be supplied to the
    program. */
void printOptions( )
{
  cout << "Command options:"                                         << endl <<
   " c(lientconf) file     - use file as client conf file"           << endl <<
   " f(ormations) file     - file with formation info"               << endl <<
   " he(lp)                - print this information"                 << endl <<
   " h(ost) hostname       - host to connect with"                   << endl <<
   " i(nfo) 0/1            - print variables used to start"          << endl <<
   " l(oglevel) int[..int] - level of debug info"                    << endl <<
   " m(ode) int            - which mode to start up with"            << endl <<
   " n(umber) int          - player number in formation"             << endl <<
   " o(utput) file         - write log info to (screen is default)"  << endl <<
   " p(ort)                - port number to connect with"            << endl <<
   " r(econnect) int       - reconnect as player nr"                 << endl <<
   " s(erverconf) file     - use file as server conf file"           << endl <<
   " t(eamname) name       - name of your team"                      << endl;
}