sensory.h

RoboCup仿真组世界冠军源代码

/*
    Copyright (C) 2001  Tsinghuaeolus

    Authors : ChenJiang, YaoJinyi, CaiYunpeng, Lishi

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

	If you make any changes or have any comments we would appreciate a 
	message to [e-mail].
*/

#ifndef _sensory
#define _sensory

#include "netif.h"
#include "Params.h"
#include "Types.h"

class SenseBodyInfo{
public:
	Time time;

	float stamina;
	float effort;
	float speed;
	AngleDeg rel_spd_angle;
	AngleDeg head_angle;
	VIEWWIDTH view_width;
	VIEWQUALITY view_qual;

	int kicks;
	int dashes;
	int turns;
	int says;
	int turn_necks;
	void setvalues(VIEWWIDTH viewidth, VIEWQUALITY viewqual, float stamina,float effort,float speed,AngleDeg rel_spd_angle,AngleDeg head_angle,int kicks,
				int dashes,int turns,int says,int turn_necks,Time time){
		view_width = viewidth;
		view_qual = viewqual;
		this->stamina    = stamina;
		this->effort     = effort;
		this->speed      = speed;
		this->rel_spd_angle= rel_spd_angle;
		this->head_angle = head_angle;
		this->kicks      = kicks;
		this->dashes     = dashes;
		this->says       = says;
		this->turn_necks = turn_necks;
		this->turns      = turns;
		this->time       = time;
	}
};

class Sensory{
private:
	MarkerType MyGoal;
	MarkerType TheirGoal;
/********	SenseBodyInfo	********************/
	int latestsenseinfo;
	SenseBodyInfo sensebodyinfo[2]; /* store latest two sense infomation*/
	float dir_conf[CP_num_divisions];
	Time dir_time;
	TimedDataArray<MarkerType, CP_num_stored_markerinfos> ClosestMarker;
public:
	Sensory();
/*************************************************************/
	Time LatestTime;
	Time PrevInterruptTime;
	Time LastSightTime;
	Time PrevSightTime;
	Time LastSenseTime;
	Time LastSoundTime;
	Time PrevSenseTime;

	SenseType LastSenseType;
	VIEWQUALITY ViewQuality;
	VIEWWIDTH ViewWidth;
	VIEWWIDTH LastViewWidth;
	VIEWWIDTH NextViewWidth; 

	bool NewSight;
	bool NewSenseInfo;
	bool NewSound;
	bool TwiceSight;
/********************  SYNC   *******************************************/
	inline bool LastMsgIsSense(){return bool(LastSenseType==Sense_Msg);}
	inline bool LastMsgIsSight(){return bool(LastSenseType==See_Msg);}
/********************  Parse   *******************************************/
	void Parse(char* SensoryInfo);
	void Parse_Sense(Time time,char* SensoryInfo);
	void Parse_Sight(Time time,char* SensoryInfo);
	void Parse_Sound(Time time,char* SensoryInfo);
	void Parse_ServerParams(char* SensoryInfo);
	void Parse_PlayerParams(char* SensoryInfo);
	void Parse_PlayerTypes(char* SensoryInfo);
	void Parse_Referee_Sound(char *RefereeSound);
	void Parse_Trainer_Sound(char *msg);
	void Parse_My_Coach_Sound(Time time, char *msg){};
	void Parse_Their_Coach_Sound(Time time, char *msg){};
	void Parse_initialize_message(char *recvbuf);
/*******************  Visual Information   ********************************/
	void SetMySensedInfo(VIEWWIDTH viewidth, VIEWQUALITY viewqual, float stamina,float effort,float speed,AngleDeg rel_spd_angle,
		AngleDeg head_angle,int kicks,int dashes,int turns,int says,int turn_necks,Time time);
	SenseBodyInfo& GetSenseBodyInfo(Time time);

	void SeeMarker(MarkerType marker,AngleDeg ang,Time time);
	void SeeMarker(MarkerType marker,float dist,AngleDeg ang,Time time);
	void SeeLine(SideLine line,AngleDeg ang,Time time);
	void SeeLine(SideLine line,float dist,AngleDeg ang,Time time);
	void SeeBall(AngleDeg ang,Time time);
	void SeeBall(float dist,AngleDeg ang,Time time);
	void SeeBall(float dist,AngleDeg ang,float distChng,float dirChng,Time time);
	void SeePlayer(AngleDeg ang,Time time);
	void SeePlayer(float dist,AngleDeg ang,Time time);
	void SeePlayer(char player_side,AngleDeg ang,Time time);
	void SeePlayer(char player_side,float dist,AngleDeg ang,Time time);
	void SeePlayer(char player_side,UNum NO,AngleDeg ang,Time time,bool IsGoalie);
	void SeePlayer(char player_side,UNum NO,float dist,AngleDeg ang,Time time,bool IsGoalie);
	void SeePlayer(char player_side,UNum NO,float dist,AngleDeg ang,float distChng,
		float dirChng,AngleDeg facedir,AngleDeg neckdir,Time time,bool IsGoalie);
	void IdentifyMyGoalie(UNum No,bool IsGoalie);
	void IdentifyTheirGoalie(UNum No,bool IsGoalie);
/**********************  Seen Objects   ********************************/
	Timed2D_Array<MarkerType, SP_num_markers+1, CP_num_stored_markerinfos> SeenMarkers;
	TimedDataArray<int, CP_num_stored_markerinfos> num_seenmarkers;
	Timed2D_Array<SideLine, SP_num_lines+1, CP_num_stored_markerinfos> SeenLines;
	TimedDataArray<int, CP_num_stored_markerinfos> num_seenlines;
/********************** ******************* ***************************/
    int MySightInterval();
	AngleDeg MyViewWidth(VIEWWIDTH view_width);
	AngleDeg MyViewAngle(VIEWWIDTH view_width);
	AngleDeg MyViewWidth(VWTime time = VWT_Current);
	AngleDeg MyViewAngle(VWTime time = VWT_Current);
	float DirConf(AngleDeg dir);
/**********************  Update Infomation ****************************/
	void Update();	
	void Update_others(Time time);
	void Update_dirconf(Time time, bool NewSight);
	void Reset();
/************************************************************************/
	inline bool SensedInfKnown(Time time){return bool(time == LastSenseTime||time == PrevSenseTime);}
/************************************************************************/
	MarkerType LastClosestMarker;
	MarkerType ClosestGoal();
	MarkerType ClosestFlag();
	MarkerType GetClosestMarker(Time time){ return ClosestMarker.IsDataKnown(time) ? ClosestMarker.Data(time) : No_Marker;}
};

#endif