serverparam.h

在LINUX下运行的仿真机器人服务器源代码

  { return (unsigned int)M_hear_decay; }

  double
  tackleDist() const
  { return M_tackle_dist; }

  double
  tackleBackDist() const
  { return M_tackle_back_dist; }

  double
  tackleWidth() const
  { return M_tackle_width; }

  double
  tackleExponent() const
  { return M_tackle_exponent; }

  unsigned int
  tackleCycles() const
  { return (unsigned int)M_tackle_cycles; }

  double
  tacklePowerRate() const
  { return M_tackle_power_rate; }


  unsigned int
  freeformWaitPeriod() const
  { return (unsigned int)M_freeform_wait_period; }

  unsigned int
  freeformSendPeriod() const
  { return (unsigned int)M_freeform_send_period; }

  double
  visAngle() const
  {
    return Deg2Rad(visangle);
  }

  double
  visAngleDeg() const
  { return visangle; }

  bool
  freeKickFaults() const
  { return M_free_kick_faults; }

  bool
  backPasses() const
  { return M_back_passes; }

  bool
  properGoalKicks() const
  { return M_proper_goal_kicks; }

  double
  stoppedBallVel() const
  { return M_stopped_ball_vel; }

  int
  maxGoalKicks() const
  { return M_max_goal_kicks; }

  int 
  clangDelWin() const
  { return M_clang_del_win; }
	
	int
  clangRuleWin() const
  { return M_clang_rule_win; }     

  bool
  autoMode() const
  { return M_auto_mode; }

  int
  kickOffWait() const
  { return M_kick_off_wait * sim_st / recv_st; }

  int
  connectWait() const
  { return M_connect_wait * sim_st / recv_st; }

  int
  gameOverWait() const
  { return M_game_over_wait; }

  std::string
  teamLeftStart() const
  { return M_team_l_start; }

  std::string
  teamRightStart() const
  { return M_team_r_start; }

    double
    goalPostRadius() const
    { return 0.06; }

    rcss::net::Addr::PortType
    playerPort() const
    { return portnum; }

    rcss::net::Addr::PortType
    offlineCoachPort() const
    { return coach_pnum; }

    rcss::net::Addr::PortType
    onlineCoachPort() const
    { return olcoach_pnum; }

    bool
    getInt( const std::string& param, int& value ) const;

    bool
    getBool( const std::string& param, bool& value ) const;

    bool
    getDoub( const std::string& param, double& value ) const;

    bool
    getStr( const std::string& param, std::string& value ) const;


private:

  static
  bool s_in_init;

};


class ServerParamSensor
{
};

class ServerParamSensor_v7
	: public ServerParamSensor
{
public:
	struct data_t
	{
		double M_gwidth;
		double M_inertia_moment ;
		double M_psize;
		double M_pdecay;
		double M_prand;
		double M_pweight;
		double M_pspeed_max;
		double M_paccel_max;
		double M_stamina_max;
		double M_stamina_inc;
		double M_recover_init;
		double M_recover_dthr;
		double M_recover_min;
		double M_recover_dec;
		double M_effort_init;
		double M_effort_dthr;
		double M_effort_min;
		double M_effort_dec;
		double M_effort_ithr;
		double M_effort_inc;
		double M_kick_rand;      
		bool M_team_actuator_noise;           
		double M_prand_factor_l;    
		double M_prand_factor_r;      
		double M_kick_rand_factor_l; 
		double M_kick_rand_factor_r;           
		double M_bsize;
		double M_bdecay;
		double M_brand;
		double M_bweight;
		double M_bspeed_max;
		double M_baccel_max;
		double M_dprate;
		double M_kprate;
		double M_kmargin;
		double M_ctlradius;
		double M_ctlradius_width;
		double M_maxp;
		double M_minp;
		double M_maxm;
		double M_minm;
		double M_maxnm;
		double M_minnm;
		double M_maxn;
		double M_minn;
		double M_visangle;
		double M_visdist;
		double M_windir;
		double M_winforce;
		double M_winang;
		double M_winrand;
		double M_kickable_area;
		double M_catch_area_l;
		double M_catch_area_w;
		double M_catch_prob;
		int M_goalie_max_moves;        
		double M_ckmargin;
		double M_offside_area;
		bool M_win_no;
		bool M_win_random;
		int M_say_cnt_max;
		int M_SayCoachMsgSize;
		int M_clang_win_size;
		int M_clang_define_win;
		int M_clang_meta_win;
		int M_clang_advice_win;
		int M_clang_info_win;
		int M_clang_mess_delay;
		int M_clang_mess_per_cycle;
		int M_half_time;
		int M_sim_st;
		int M_send_st;
		int M_recv_st;
		int M_sb_step;
		int M_lcm_st;   
		int M_say_msg_size;
		int M_hear_max;
		int M_hear_inc;
		int M_hear_decay;
		int M_cban_cycle;
		int M_slow_down_factor;         
		bool M_useoffside;
		bool M_kickoffoffside;
		double M_offside_kick_margin;
		double M_audio_dist;
		double M_dist_qstep;
		double M_land_qstep;
		double M_dir_qstep;
		double M_dist_qstep_l;
		double M_dist_qstep_r;
		double M_land_qstep_l;
		double M_land_qstep_r;
		double M_dir_qstep_l;
		double M_dir_qstep_r;
		bool M_CoachMode;
		bool M_CwRMode;
		bool M_old_hear;
		int M_sv_st;
		int M_start_goal_l;
		int M_start_goal_r;
		bool M_fullstate_l;
		bool M_fullstate_r;
		int M_drop_time;



		data_t ( const ServerParam& sp )
			: M_gwidth ( sp.gwidth ),
				M_inertia_moment  ( sp.inertia_moment ),
				M_psize ( sp.psize ),
				M_pdecay ( sp.pdecay ),
				M_prand ( sp.prand ),
				M_pweight ( sp.pweight ),
				M_pspeed_max ( sp.pspeed_max ),
				M_paccel_max ( sp.paccel_max ),
				M_stamina_max ( sp.stamina_max ),
				M_stamina_inc ( sp.stamina_inc ),
				M_recover_init ( sp.recover_init ),
				M_recover_dthr ( sp.recover_dthr ),
				M_recover_min ( sp.recover_min ),
				M_recover_dec ( sp.recover_dec ),
				M_effort_init ( sp.effort_init ),
				M_effort_dthr ( sp.effort_dthr ),
				M_effort_min ( sp.effort_min ),
				M_effort_dec ( sp.effort_dec ),
				M_effort_ithr ( sp.effort_ithr ),
				M_effort_inc ( sp.effort_inc ),
				M_kick_rand ( sp.kick_rand ),
				M_team_actuator_noise ( sp.team_actuator_noise ),
				M_prand_factor_l ( sp.prand_factor_l ),
				M_prand_factor_r ( sp.prand_factor_r ),
				M_kick_rand_factor_l ( sp.kick_rand_factor_l ),
				M_kick_rand_factor_r ( sp.kick_rand_factor_r ),
				M_bsize ( sp.bsize ),
				M_bdecay ( sp.bdecay ),
				M_brand ( sp.brand ),
				M_bweight ( sp.bweight ),
				M_bspeed_max ( sp.bspeed_max ),
				M_baccel_max ( sp.baccel_max ),
				M_dprate ( sp.dprate ),
				M_kprate ( sp.kprate ),
				M_kmargin ( sp.kmargin ),
				M_ctlradius ( sp.ctlradius ),
				M_ctlradius_width ( sp.CtlRadiusWidth() ),
				M_maxp ( sp.maxp ),
				M_minp ( sp.minp ),
				M_maxm ( sp.maxm ),
				M_minm ( sp.minm ),
				M_maxnm ( sp.maxnm ),
				M_minnm ( sp.minnm ),
				M_maxn ( sp.maxn ),
				M_minn ( sp.minn ),
				M_visangle ( sp.visAngleDeg() ),
				M_visdist ( sp.visdist ),
				M_windir ( sp.windir ),
				M_winforce ( sp.winforce ),
				M_winang ( sp.winang ),
				M_winrand ( sp.winrand ),
				M_kickable_area ( sp.kickableArea() ),
				M_catch_area_l ( sp.catch_area_l ),
				M_catch_area_w ( sp.catch_area_w ),
				M_catch_prob ( sp.catch_prob ),
				M_goalie_max_moves ( sp.goalie_max_moves ),
				M_ckmargin ( sp.ckmargin  ),
				M_offside_area ( sp.offside_area ),
				M_win_no ( sp.win_no ),
				M_win_random ( sp.win_random ),
				M_say_cnt_max ( sp.say_cnt_max ),
				M_SayCoachMsgSize ( sp.SayCoachMsgSize ),
				M_clang_win_size ( sp.clang_win_size ),
				M_clang_define_win ( sp.clang_define_win ),
				M_clang_meta_win ( sp.clang_meta_win ),
				M_clang_advice_win ( sp.clang_advice_win ),
				M_clang_info_win ( sp.clang_info_win ),
				M_clang_mess_delay ( sp.clang_mess_delay ),
				M_clang_mess_per_cycle ( sp.clang_mess_per_cycle ),
				M_half_time ( sp.halfTime() ),
				M_sim_st ( sp.simStep() ),
				M_send_st ( sp.sendStep() ),
				M_recv_st ( sp.recv_st ),
				M_sb_step ( sp.senseBodyStep() ),
				M_lcm_st ( sp.lcmStep() ),
				M_say_msg_size ( sp.sayMsgSize() ),
				M_hear_max ( sp.hearMax() ),
				M_hear_inc ( sp.hearInc() ),
				M_hear_decay ( sp.hearDecay() ),
				M_cban_cycle ( sp.cban_cycle ),
				M_slow_down_factor ( sp.slow_down_factor ),
				M_useoffside ( sp.useoffside ),
				M_kickoffoffside ( sp.kickoffoffside ),
				M_offside_kick_margin ( sp.offside_kick_margin ),
				M_audio_dist ( sp.audio_dist ),
				M_dist_qstep ( sp.dist_qstep ),
				M_land_qstep ( sp.land_qstep ),
#ifdef NEW_QSTEP
				M_dir_qstep ( sp.dir_qstep ),
				M_dist_qstep_l ( sp.dist_qstep_l ),
				M_dist_qstep_r ( sp.dist_qstep_r ),
				M_land_qstep_l ( sp.land_qstep_l ),
				M_land_qstep_r ( sp.land_qstep_r ),
				M_dir_qstep_l ( sp.dir_qstep_l ),
				M_dir_qstep_r ( sp.dir_qstep_r ),
#else
				M_dir_qstep ( -1 ),
				M_dist_qstep_l ( -1 ),
				M_dist_qstep_r ( -1 ),
				M_land_qstep_l ( -1 ),
				M_land_qstep_r ( -1 ),
				M_dir_qstep_l ( -1 ),
				M_dir_qstep_r ( -1 ),			
#endif
				M_CoachMode ( sp.CoachMode ),
				M_CwRMode ( sp.CwRMode ),
				M_old_hear ( sp.old_hear ),
				M_sv_st ( sp.coachVisualStep() ),
				M_start_goal_l ( sp.start_goal_l ),
				M_start_goal_r ( sp.start_goal_r ),
				M_fullstate_l ( sp.fullstate_l ),
				M_fullstate_r ( sp.fullstate_r ),
				M_drop_time ( sp.drop_time )
			{
			}
	};

	virtual void send ( const ServerParamSensor_v7::data_t& data ) = 0;
};

std::ostream& toStr ( std::ostream& o, const ServerParamSensor_v7::data_t& data );

class ServerParamSensor_v8
 	: public ServerParamSensor_v7
{
public:
	struct data_t
	{	
        const ServerParam& m_sp;

    data_t( const ServerParam& sp )
        : m_sp( sp )
    {}
        
	};
   
	virtual void send ( const ServerParamSensor_v8::data_t& data ) = 0;


};

std::ostream& toStr ( std::ostream& o, const ServerParamSensor_v8::data_t& data );
										
#endif