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在LINUX下运行的仿真机器人服务器源代码

         200303180158-MRB2003_1_4-vs-UvA_Trilearn_1_5.rg     
     - with penalties, pen_nr_kicks + pen_max_extra_kicks didn't bring a 
       winner and no winner was picked randomly (pen_random_winnner: off)     
         200303180158-MRB2003_1_7-vs-UvA_Trilearn_1_7.rg          
     - penalties was also a draw and winner (Trilearn) was picked randomly
         200303180158-MRB2003_1_4-vs-UvA_Trilearn_1_4w.rg          
        
[9.2.4]
  * Fixed defect that would incorrectly award an indirect free kick to
  the right team after a catch fault by the right team.  An indirect
  free kick to the left team is now awarded. 

  * Fixed defect that would cause compilation to fail with gcc3.2

[9.2.3]
  * Fixed defect where the server would not send version 9 parameters
  to version 9 coaches.

[9.2.2]
  * Fixed defect where the server would send "(ok move)" to the offline
  coach after it issued a move command, even if there was no such
  object that could be moved.  Now the server sends 
  "(error illegal_object_form)".

  * Clients can now connect specifying version 9 as the protocol
  version.  This simply adds support for the new server parameters
  that have been introduced.

[9.2.1]
  * Offsides are now no longer possible from a kick-in, goal-kick or
  corner-kick.  This is in compliance with FIFA regualtions.

  * A new limitation has been added to the random player types (hetero
  players) which prevents players from having a maximum speed above
  the default player and consume less stamina at maximum speed than
  the default player.

[9.2.0]
  * Configuration now fails if the SED environment variable is not
  set.  Libtool needs this to be set to function correctly

  * Goal posts have now been added.  They are circular with a radius
  of 6cm and they are located at:

  x = +- (FIELD_LENGTH*0.5 - 6cm)
  y = +- (GOAL_WIDTH*0.5 + 6cm)

  The goal posts have different collision dynamics than other
  objects. An object collides with a post if it's path gets within
  object.size + 6cm of the center of the post.  An object that
  collides with the post bounces off elastically.

  * The dynamics of the goalie catch have now changed.  If the goalie
  successfully catches a ball it is moved adjacent to and facing the
  ball and both the goalie and ball have their velocities set to
  zero.  When the goalie moves, dashes or turns while the ball is
  caught, the ball remains adjacent to and directly in front of the
  goalie.

  * The goalie can now issue catch commands at any location.  If the
  catch is successful, and the ball is outside of the penalty area or
  if the goalie moves the ball outside of the penalty area and it's
  still in the field, an indirect free kick is awarded to the opposing
  team at the ball's current location. If a caught ball is moved over
  the goal line but not inside the goal, a corner kick is awarded.  If
  a caught ball is moved into the goal, a goal is awarded.

  * Checking for goals, out of bounds and within penalty area no
  complies with FIFA regulations.  For a goal to be scored the ball
  must be totally within the goal - i.e. 

  |ball.x| > FIELD_LENGTH*0.5 + ball_radius

  Similarly the ball must be completely out of the pitch before it is
  considered out - i.e

  |ball.x| > FIELD_LENGTH*0.5 + ball_radius || 
  |ball.y| > FIELD_WIDTH*0.5 + ball_radius

  Lastly the ball is within the penalty area (and thus catchable) if
  the ball is at least partially within the penalty area - i.e.

  |ball.y| <= PENALTY_WIDTH*0.5 + ball_radius &&
  |ball.x| <= FIELD_LENGTH*0.5 + ball_radius &&
  |ball.x| >= FIELD_LENGTH*0.5 - (PENALTY_LENGTH*0.5 + ball_radius)

[9.1.5]
  * Fixed bug in static compilation

  * Fixed crash on win32 systems where the USER environment variable
    has not been set.  The server now reports and error and exits if
    the USER variable is needed (most commonly for locating the config
    files) but not available.

[9.1.4]
  * Fixed compilation problems introduced by libtools 1.4.3 on
  platforms where the SED environment variable is not set.

  * Fixed compilation bug on some platformsm due to an invalid
  preprocessor directive

[9.1.3]
  * Fixed bug which would cause terminiation of the server due to
  problems with audio messages and the associated random number generator.

[9.1.2]
  * Fixed bug in configuration that would prevent the detection of
  certain libraries when rcssserver is configured before rcssbase is built.

[9.1.1]
  * Fixed compilation problem on some platforms due to
  incompatibilities between gcc3.2 and inttypes.h

  * Fixed bug in static compilation when rcssbase has not yet been
  installed.

[9.1.0]
  * The server now supports a new game: Keepaway.  In this game, the
  left team (the "keepers") attempt to keep the ball away from the right
  team (the "takers").  An episode ends when the takers capture the ball
  or the ball leaves the rectangular play region.  When this happens,
  the referee sends a message "training Keepaway 1" to the players
  indicating that the episode has ended.

  In Keepaway mode, the simulator logs episode data to a ".kwy" file.
  This log file records the episode start/end times, the episode
  duration, and the condition under which the episode ended.

  To play Keepaway, turn on the 'keepaway' parameter.  You can specify
  the number of players on each team and the size of the play region
  using additional parameters.  A full list of options can be found in
  the "rcssserver-server.conf" file.

  When using this feature, it is strongly recommended that you turn
  off the offside rule.  Also, it is recommended that you set the
  halftime to -1.  To start the server in Keepaway mode using the
  default options:
  rcssserver -keepaway on -use_offside off -half_time -1

  Also see the 'm_keepaway' parameter of the monitor to use the
  Keepaway field layout.

  Details of the Keepaway task as well as some sample experiments can
  be found in the following article available from
  http://www.cs.utexas.edu/~pstone/papers.html.

  @Incollection(StoneSutton2001,
        Author="Peter Stone and Richard S. Sutton",
        Title="Keepaway Soccer:  a Machine Learning Testbed",
        booktitle= "{R}obo{C}up-2001: Robot Soccer World Cup {V}",
        Editor="Andreas Birk and Silvia Coradeschi and Satoshi Tadokoro",
        Publisher="Springer Verlag",address="Berlin",year="2002")

  Support for Keepaway in the rcssserver and rcssmonitor was
  implemented by Greg Kuhlmann.

  * The server now supports dlopening libraries.  The intention is to
  allow dlopening of players at some stage, but to test the concept,
  the timers are now dlopened on platforms that support it.  This also
  means that if you specify a prefix to configure, you *must* not use
  relative directories, otherwise the server won't be able to find the
  libraries.  To disable dlopening use the --disable-shared flag to
  configure.

  * Fixed incorrect back pass detection when a player tackles the
  ball.

  * Fixed incorrect back pass detection when players from both teams
  kick or tackle the ball

  * Fixed incorrect initialisation of kick_off_wait and connect_wait
  parameters which are used for automatic mode.

  * Visuals have been re-written (again), this time using the
  sender-serializer design which was initially used with audio
  messages.  While making the code a lot simpler and easier to
  maintain, it also resulted in significant performance
  improvements. On my machine, the average time taken to produce
  visuals as decreased by 12.5% and the maximum time taken to produce
  a visual has reduced by 80% (possibly an outlier).

  * The server now will wait till the left team has connected at least
  one player before starting the right team.  This only applies when
  using the team_*_start configuration options.  If the team on the
  left does not connect, the right team will not be started.

  * Fixed installation problem with machines that don't have flex.

  * The compression commands now accept -1 to indicate that zlib is
  not to be used (default) and 0 to 9 indicate levels of compression
  as per the zlib library.

[9.0.4]
  * The server.conf file now supports tilde expantion for other users
  (i.e.  ~foobar expands the the home directory of user foobar).
  Thaks go to Marc Butler for providing the patch.

  * RCSSClient now uses the new streaming sockets in rcssbase and is
  multithreaded.  The client no longer accepts the -e option, instead
  simply cat the script file and pipe it to the client.

  * RCSSClient now uses ncurses when it's available to seperate the
  input and output, this can be disabled ( like when you want to
  redirect the output to a file ) by using the -nogui option.

  * RCSSClient's command line argument parseing has changed. Now the
  server and port are specified with '-server SERVER' and '-port PORT'

[9.0.3]
  * Fixed errors in default server.conf generation.  Thanks go to
  Michael Gollin for providing the fix.

[9.0.2]
  * The server can now be run automatically.  When 'auto_mode' is on
  the server will wait 'connect_wait' cycles for the players to
  connect and 'kick_off_wait' cycles before kicking off.  At the end
  of the two halves, the server will wait 'game_over_wait' cycles
  before exiting.  It will not continue into extra time.

  * String command line and .conf parameters may now be enclosed in
    quotes.

  * Two new parameters have been added, 'team_l_start' and
  'team_r_start' that can be used to specify a command to run to start
  the left and right team respectively.  If the command contains a
  space make sure you enclose the entire command in double quotes.

  For instance, to start the left team on 'team_host', connecting to a
  server on 'server_host', one could use something like

  rcssserver -team_l_start "ssh team_host \"~/startMyTeam server_host\""

  or add

  team_l_start : "ssh another_host "~/startMyTeam some_host""

  to the '~/.rcssserver-server.conf' file

[9.0.1]
  * The automatic output of CLang messages as full hear messages has
  been disabled due to problems with output during games.

[9.0.0]
  * CLang messages will now output as

  (hear TIME_SENT online_coach_{left|right} TIME_RECV (message))

  if the side and time recv have been set, otherwise they are output
  as normal.  This is only intended as a convenience feature for
  clients so that they can compare the output of the parsed message
  with the actual message parsed.

  * rcss::clang::Parser now inherits from the new rcss::Parser, found
  in rcssbase/parser.h

  * The CLang lexer is now reentrant, and can only be rebuilt using
    flex.

  * The order in which the search for the rcssbase files is performed
  has changed.  If the "rcssbase" environment variable is set, then it
  will first look in the path specified by "rcssbase".  Next it will
  try to look into rcssbase directly, by assuming rcssserver and
  rcssbase are being installed as part of the larger rcsoccersim
  package.  Failing that it will then search for the headers as it
  would for any other header file.

[8.05]
  [rel_10]
  * Fixed defect where a back passes is detected when the goalie sends
   a catch but the ball is too far away.

  [rel_9]
  * To save on compile time and space, debuging infomration is now
  disabled by default.  Use `./configure CXXFLASG="<YOUR FLAGS>"' to
  overide the new defualt of "-O2".

  * Shared libraries are no longer built by default.  If you want to
  use shared libraries you will need to specify --enable-shared at
  configure time.

  [rel_8]
  * Fixed egcs 2.91.66 compilation problems

  [rel_7]
  * Fixed minor defect which would reverse the order of points in
  CLang Quad, Tri and Rec regions.

  * Fixed defect where quotes where missing from CLang define messages.

  * Fixed defect that would send CLang messages that required support
  for both CLang 7 and CLang 8 to clients that supported only one of
  CLang 7 or CLang 8.

  * Disabled by default the sending of (hear time TEAM [UNUM])
    messages.

  * The type audio messages received by a player can now be enabled
  and disabled via the ear command in the form

  (ear ({on|off} [TEAM] [TYPE]))

  TEAM is "our", "opp", "left", "l", "right", "r" or the team name of
  a team.  If TEAM is omitted, the message will apply to messages from
  both teams.  TYPE is used to specify the type of audio, where
  "complete" or "c" is used to specify messages which contain the
  audio data and "partial" or "p" is used to specify messages which do
  not contain audio data.  If TYPE is not specified, the message will
  apply to both types.

  For example:

  '(ear (on))' enables all audio.
  '(ear (off partial))' disables '(hear time TEAM [UNUM])' messages.
  '(ear (on our complete))' enables '(hear time TEAM [UNUM] "message")'
  messages from the players team mates.
  '(ear (off opp))' disables all audio from opponent players.

  * Fixed compilation problem on GCC 2.96

  * Added support for queueing of CLang RuleMsgs and DelMsgs.  The
  number of these types of messages that can be sent each CLang
  windows is specifed by two new parameters, 'clang_rule_win' and
  'clang_del_win', both of whcih have defaults of 1.

  * Fixed bug with proper goal kicks which would award a goal kick to
  the opposition it a opposing team member kicked the ball when the
  play mode was still goal kick.  Instead the goal kick is retaken.

  * Fixed some problems when compiling on Cygwin

  * Fixed bug that would allow a player to kick the ball if the goalie
  had caught the ball and move on top of the player.