landmarkreader.c

在LINUX下运行的仿真机器人服务器源代码

		return false;
	    }
	}
      else if ( std::string ( attr[i] ) == LandmarkReader::STARTY_KW )
	{
	  if ( rect_stack.size () == 0 )
	    {
	      if ( !extract ( attr[i], attr[i+1], rect.starty ) )
	      return false;
	    }
	  else
	    {
	      if ( !extract ( attr[i], attr[i+1], rect.starty, 
			      rect_stack.top ().starty, rect_stack.top ().endy ) )
		return false;
	    }
	}
      else if ( std::string ( attr[i] ) == LandmarkReader::ENDX_KW )
	{
	  if ( rect_stack.size () == 0 )
	    {
	      if ( !extract ( attr[i], attr[i+1], rect.endx ) )
	      return false;
	    }
	  else
	    {
	      if ( !extract ( attr[i], attr[i+1], rect.endx, 
			      rect_stack.top ().startx, rect_stack.top ().endx ) )
		return false;
	    }
	}
      else if ( std::string ( attr[i] ) == LandmarkReader::ENDY_KW )
	{
	  if ( rect_stack.size () == 0 )
	    {
	      if ( !extract ( attr[i], attr[i+1], rect.endy ) )
	      return false;
	    }
	  else
	    {
	      if ( !extract ( attr[i], attr[i+1], rect.endy, 
			      rect_stack.top ().starty, rect_stack.top ().endy ) )
		return false;
	    }
	}
      else
	{
	  // error
        std::cerr << path << ": " << line
	       << ": unknown attribute " << attr[i] << std::endl;
	  return false;
	}
    }
  rect_stack.push (rect);

  if ( main )
    {
      pitch = rect;
    }
  return true;
}

bool LandmarkReader::processFlag ( const char **attr, bool goal )
{
  LandmarkReader::flag_t flag = LandmarkReader::DEF_FLAG; 
  if ( rect_stack.size () > 0 )
    {
      flag.x = ( rect_stack.top ().startx + rect_stack.top ().endx ) * 0.5; 
      flag.y = ( rect_stack.top ().starty + rect_stack.top ().endy ) * 0.5; 
    }

  for (int i = 0; attr[i]; i += 2) 
    {
      if ( std::string ( attr[i] ) == LandmarkReader::X_KW )
	{
	  if ( rect_stack.size () == 0 )
	    {
	      if ( !extract ( attr[i], attr[i+1], flag.x ) )
	      return false;
	    }
	  else
	    {
	      if ( !extract ( attr[i], attr[i+1], flag.x, 
			      rect_stack.top ().startx, rect_stack.top ().endx ) )
		return false;
	    }
	}
      else if ( std::string ( attr[i] ) == LandmarkReader::Y_KW )
	{
	  if ( rect_stack.size () == 0 )
	    {
	      if ( !extract ( attr[i], attr[i+1], flag.y ) )
	      return false;
	    }
	  else
	    {
	      if ( !extract ( attr[i], attr[i+1], flag.y, 
			      rect_stack.top ().starty, rect_stack.top ().endy ) )
		return false;
	    }
	}
      else if ( std::string ( attr[i] ) == LandmarkReader::NAME_KW )
	{
	  if ( !extract ( attr[i], attr[i+1], flag.name ) )
	    return false;
	}
      else if ( std::string ( attr[i] ) == LandmarkReader::VER_KW )
	{
	  if ( !extract ( attr[i], attr[i+1], flag.ver ) )
	    return false;
	}
      else
	{
	  std::cerr << path << ": " << line
	       << ": Unknown attribute " << attr[i] << std::endl;
	  return false;
	}
    }

  addFlag ( flag, goal );
}
#endif // HAVE_LIBEXPAT

  // Be very carefull when changing the default values.  If you
  // change from abs to percent or visa-versa, make sure you add
  // or remove the % sign in the print function and the loadDefaults.
std::ostream& LandmarkReader::print ( std::ostream& o ) const
{
  o << "<?xml version=\"1.0\"?>" << std::endl;
  o << "" << std::endl;
  o << "" << std::endl;
  o << "<mainPitch startx=\"" << LandmarkReader::DEF_PITCH.startx 
    << "\" starty=\"" << LandmarkReader::DEF_PITCH.starty 
    << "\" endx=\"" << LandmarkReader::DEF_PITCH.endx 
    << "\" endy=\"" << LandmarkReader::DEF_PITCH.endy
    << "\">" << std::endl;
  LandmarkReader::FLAG_C.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::FLAG_C_T.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::FLAG_C_B.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::FLAG_R_T.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::FLAG_R_B.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::FLAG_L_T.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::FLAG_L_B.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::GOAL_MOUTH_R.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::FLAG_G_R_B.toXml ( o << "\t\t" ) << std::endl;
  o << "\t\t<goal y=\"" << LandmarkReader::GOAL_R.y 
    << "%\" name=\"" << LandmarkReader::GOAL_R.name 
    << "\" ver=\"" << LandmarkReader::GOAL_R.ver 
    << "\"/>" << std::endl;
  LandmarkReader::FLAG_G_R_T.toXml ( o << "\t\t" ) << std::endl;
  o << "\t</goalMouth>" << std::endl;
  LandmarkReader::GOAL_MOUTH_L.toXml ( o << "\t" ) << std::endl;
  LandmarkReader::FLAG_G_L_B.toXml ( o << "\t\t" ) << std::endl;
  o << "\t\t<goal y=\"" << LandmarkReader::GOAL_L.y 
    << "%\" name=\"" << LandmarkReader::GOAL_L.name 
    << "\" ver=\"" << LandmarkReader::GOAL_L.ver 
    << "\"/>" << std::endl;
  LandmarkReader::FLAG_G_L_T.toXml ( o << "\t\t" ) << std::endl;
  o << "\t</goalMouth>" << std::endl;
  o << "\t<penaltyArea startx=\"" <<  LandmarkReader::PEN_R.startx 
    << "\" starty=\"" <<  LandmarkReader::PEN_R.starty 
    << "\" endx=\"" <<  LandmarkReader::PEN_R.endx << "%\" " 
    << "endy=\"" <<  LandmarkReader::PEN_R.endy 
    << "\">" << std::endl;
  LandmarkReader::FLAG_P_R_B.toXml ( o << "\t\t" ) << std::endl;
  LandmarkReader::FLAG_P_R_C.toXml ( o << "\t\t" ) << std::endl;
  LandmarkReader::FLAG_P_R_T.toXml ( o << "\t\t" ) << std::endl;
  o << "\t</penaltyArea>" << std::endl;
  o << "\t<penaltyArea startx=\"" << LandmarkReader::PEN_L.startx 
    << "\" starty=\"" << LandmarkReader::PEN_L.starty 
    << "\" endx=\"" << LandmarkReader::PEN_L.endx << "%\" " 
    << "endy=\"" << LandmarkReader::PEN_L.endy 
    << "\">" << std::endl;
  LandmarkReader::FLAG_P_L_B.toXml ( o << "\t\t" ) << std::endl;
  LandmarkReader::FLAG_P_L_C.toXml ( o << "\t\t" ) << std::endl;
  LandmarkReader::FLAG_P_L_T.toXml ( o << "\t\t" ) << std::endl;
  o << "\t</penaltyArea>" << std::endl;
  o << "\t<outerPitch startx=\"" <<  LandmarkReader::OUTER_PITCH.startx 
    << "\" starty=\"" <<  LandmarkReader::OUTER_PITCH.starty 
    << "\" endx=\"" <<  LandmarkReader::OUTER_PITCH.endx 
    << "\" endy=\"" <<  LandmarkReader::OUTER_PITCH.endy 
    << "\">" << std::endl;
  LandmarkReader::FLAG_T_0.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_R_10.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_R_20.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_R_30.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_R_40.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_R_50.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_L_10.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_L_20.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_L_30.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_L_40.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_T_L_50.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_0.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_R_10.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_R_20.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_R_30.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_R_40.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_R_50.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_L_10.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_L_20.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_L_30.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_L_40.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_B_L_50.toXml ( o << "\t\t", false, true ) << std::endl;
  LandmarkReader::FLAG_R_0.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_R_T_10.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_R_T_20.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_R_T_30.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_R_B_10.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_R_B_20.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_R_B_30.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_L_0.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_L_T_10.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_L_T_20.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_L_T_30.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_L_B_10.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_L_B_20.toXml ( o << "\t\t", true, false ) << std::endl;
  LandmarkReader::FLAG_L_B_30.toXml ( o << "\t\t", true, false ) << std::endl;
  o << "\t</outerPitch>" << std::endl;
  o << "</mainPitch>" << std::endl;
  return o;
}

  // Be very carefull when changing the default values.  If you
  // change from abs to percent or visa-versa, make sure you add
  // or remove the % sign in the print function and the loadDefaults.
void LandmarkReader::loadDefaults ()
{
  LandmarkReader::flag_t tmp_flag;

  rect_stack.push ( LandmarkReader::DEF_PITCH );

  addFlag ( LandmarkReader::FLAG_C.percentify ( rect_stack.top (),
						 true, true ) ); 
  addFlag ( LandmarkReader::FLAG_C_T.percentify ( rect_stack.top (),
						 true, true ) );
  addFlag ( LandmarkReader::FLAG_C_B.percentify ( rect_stack.top (),
						 true, true ) );
  addFlag ( LandmarkReader::FLAG_R_T.percentify ( rect_stack.top (),
						 true, true ) );
  addFlag ( LandmarkReader::FLAG_R_B.percentify ( rect_stack.top (),
						 true, true ) );
  addFlag ( LandmarkReader::FLAG_L_T.percentify ( rect_stack.top (),
						 true, true ) );
  addFlag ( LandmarkReader::FLAG_L_B.percentify ( rect_stack.top (),
						 true, true ) );
  rect_stack.push ( LandmarkReader::GOAL_MOUTH_R.toRect ( rect_stack.top () ) );
  addFlag ( LandmarkReader::FLAG_G_R_B.percentify ( rect_stack.top (),
						    true, true ) );
  addFlag ( LandmarkReader::GOAL_R.percentify ( rect_stack.top (),
						true, true ), true );
  addFlag ( LandmarkReader::FLAG_G_R_T.percentify ( rect_stack.top (),
						    true, true ) );
  rect_stack.pop ();
  rect_stack.push ( LandmarkReader::GOAL_MOUTH_L.toRect ( rect_stack.top () ) );
  addFlag ( LandmarkReader::FLAG_G_L_B.percentify ( rect_stack.top (),
						    true, true ) );
  addFlag ( LandmarkReader::GOAL_L.percentify ( rect_stack.top (),
						true, true ), true );
  addFlag ( LandmarkReader::FLAG_G_L_T.percentify ( rect_stack.top (),
						    true, true ) );
  rect_stack.pop ();
  rect_stack.push ( LandmarkReader::PEN_R.percentify ( rect_stack.top (),
						       false, false,
						       true, false ) );
  
  addFlag ( LandmarkReader::FLAG_P_R_B.percentify ( rect_stack.top (),
						    true, true ) );
  addFlag ( LandmarkReader::FLAG_P_R_C.percentify ( rect_stack.top (),
						    true, true ) );
  addFlag ( LandmarkReader::FLAG_P_R_T.percentify ( rect_stack.top (),
						    true, true ) );
  rect_stack.pop ();
  rect_stack.push ( LandmarkReader::PEN_L.percentify ( rect_stack.top (),
						       false, false,
						       true, false ) );
  addFlag ( LandmarkReader::FLAG_P_L_B.percentify ( rect_stack.top (),
						    true, true ) );
  addFlag ( LandmarkReader::FLAG_P_L_C.percentify ( rect_stack.top (),
						    true, true ) );
  addFlag ( LandmarkReader::FLAG_P_L_T.percentify ( rect_stack.top (),
						    true, true ) );
  rect_stack.pop ();
  rect_stack.push ( LandmarkReader::OUTER_PITCH );
  addFlag ( LandmarkReader::FLAG_T_0.percentify ( rect_stack.top (), 
						  false, true ) );
  addFlag ( LandmarkReader::FLAG_T_R_10.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_R_20.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_R_30.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_R_40.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_R_50.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_L_10.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_L_20.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_L_30.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_L_40.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_T_L_50.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_0.percentify ( rect_stack.top (), 
						  false, true ) );
  addFlag ( LandmarkReader::FLAG_B_R_10.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_R_20.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_R_30.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_R_40.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_R_50.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_L_10.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_L_20.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_L_30.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_L_40.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_B_L_50.percentify ( rect_stack.top (), 
						     false, true ) );
  addFlag ( LandmarkReader::FLAG_R_0.percentify ( rect_stack.top (), 
						  true, false ) );
  addFlag ( LandmarkReader::FLAG_R_T_10.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_R_T_20.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_R_T_30.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_R_B_10.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_R_B_20.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_R_B_30.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_L_0.percentify ( rect_stack.top (), 
						  true, false ) );
  addFlag ( LandmarkReader::FLAG_L_T_10.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_L_T_20.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_L_T_30.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_L_B_10.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_L_B_20.percentify ( rect_stack.top (), 
						     true, false ) );
  addFlag ( LandmarkReader::FLAG_L_B_30.percentify ( rect_stack.top (), 
						     true, false ) );
  rect_stack.pop ();
  rect_stack.pop ();
}


void  LandmarkReader::addFlag ( const LandmarkReader::flag_t& flag, 
                                const bool& goal )
{
  // add goal to stadium
  char* sname = new char[16];
  char* lname = new char[16];
  std::string sub_name;
  PObject::obj_type object_type;
  if ( goal )
    {
      strcpy ( sname, (std::string ( "(g " ) + flag.name + ")").c_str () );
      strcpy ( lname, (std::string ( "(goal " ) + flag.name + ")").c_str () );
      sub_name = "g ";
      sub_name += flag.name;
      object_type = PObject::OT_GOAL;
    }
  else
    {
      strcpy ( sname, (std::string ( "(f " ) + flag.name + ")").c_str () );
      strcpy ( lname, (std::string ( "(flag " ) + flag.name + ")").c_str () );
      sub_name = flag.name;
      object_type = PObject::OT_FLAG;
    }
  // hmmm... even though the PObject constructor takes a
  // const Name, the compiler compains about casting from const,
  // so we have to copy the string.  Grrrr....
  stad->votable.AssignObject ( new PObject ( object_type, lname, sname, sub_name,
					     PVector(flag.x, flag.y), 
					     flag.ver)) ;
  // dont delete sname and lname 'cause PObject takes them
}