initsender.cc

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                                initsender.cc 
                  Classes for sending init messages
                             -------------------
    begin                : 22-AUG-2002
    copyright            : (C) 2002 by The RoboCup Soccer Simulator 
                           Maintenance Group.
    email                : [e-mail]
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU LGPL as published by the Free Software  *
 *   Foundation; either version 2 of the License, or (at your option) any  *
 *   later version.                                                        *
 *                                                                         *
 ***************************************************************************/

#include "initsender.h"
#include "player.h"
#include "serializer.h"
#include "field.h"

namespace rcss
{

/*!
//===================================================================
//
//  CLASS: InitSender
//
//  DESC: Base class for the init protocol.
//
//===================================================================
*/

    InitSender::InitSender( std::ostream& transport,
                            const boost::shared_ptr< InitSenderCommon >& common )
        : Sender( transport ), m_common_sender( common )
    {}

    InitSender::~InitSender()
    {}





//----------------------


    void
    InitSenderCommonV7::sendServerParams()
    {
        serializer().serializeServerParamBegin( transport() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().gwidth );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().inertia_moment );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().psize );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().pdecay );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().prand );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().pweight );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().pspeed_max );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().paccel_max );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().stamina_max );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().stamina_inc );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().recover_init );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().recover_dthr );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().recover_min );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().recover_dec );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().effort_init );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().effort_dthr );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().effort_min );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().effort_dec );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().effort_ithr );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().effort_inc );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().kick_rand );      
        serializer().serializeParam( transport(),
                                     ServerParam::instance().team_actuator_noise );           
        serializer().serializeParam( transport(),
                                     ServerParam::instance().prand_factor_l );    
        serializer().serializeParam( transport(),
                                     ServerParam::instance().prand_factor_r );      
        serializer().serializeParam( transport(),
                                     ServerParam::instance().kick_rand_factor_l ); 
        serializer().serializeParam( transport(),
                                     ServerParam::instance().kick_rand_factor_r );           
        serializer().serializeParam( transport(),
                                     ServerParam::instance().bsize );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().bdecay );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().brand );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().bweight );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().bspeed_max );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().baccel_max );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().dprate );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().kprate );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().kmargin );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().ctlradius );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().CtlRadiusWidth() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().maxp );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().minp );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().maxm );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().minm );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().maxnm );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().minnm );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().maxn );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().minn );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().visAngleDeg() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().visdist );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().windir );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().winforce );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().winang );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().winrand );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().kickableArea() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().catch_area_l );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().catch_area_w );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().catch_prob );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().goalie_max_moves );        
        serializer().serializeParam( transport(),
                                     ServerParam::instance().ckmargin  );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().offside_area );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().win_no );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().win_random );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().say_cnt_max );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().SayCoachMsgSize );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().clang_win_size );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().clang_define_win );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().clang_meta_win );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().clang_advice_win );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().clang_info_win );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().clang_mess_delay );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().clang_mess_per_cycle );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().halfTime() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().simStep() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().sendStep() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().recv_st );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().senseBodyStep() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().lcmStep() );   
        serializer().serializeParam( transport(),
                                     ServerParam::instance().sayMsgSize() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().hearMax() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().hearInc() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().hearDecay() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().cban_cycle );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().slow_down_factor );         
        serializer().serializeParam( transport(),
                                     ServerParam::instance().useoffside );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().kickoffoffside );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().offside_kick_margin );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().audio_dist );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().dist_qstep );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().land_qstep );
#ifdef NEW_QSTEP
        serializer().serializeParam( transport(),
                                     ServerParam::instance().dir_qstep );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().dist_qstep_l );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().dist_qstep_r );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().land_qstep_l );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().land_qstep_r );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().dir_qstep_l );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().dir_qstep_r );
#else
        serializer().serializeParam( transport(),
                                     -1 );
        serializer().serializeParam( transport(),
                                     -1 );
        serializer().serializeParam( transport(),
                                     -1 );
        serializer().serializeParam( transport(),
                                     -1 );
        serializer().serializeParam( transport(),
                                     -1 );
        serializer().serializeParam( transport(),
                                     -1 );
        serializer().serializeParam( transport(),
                                     -1 );			
#endif
        serializer().serializeParam( transport(),
                                     ServerParam::instance().CoachMode );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().CwRMode );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().old_hear );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().coachVisualStep() );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().start_goal_l );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().start_goal_r );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().fullstate_l );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().fullstate_r );
        serializer().serializeParam( transport(),
                                     ServerParam::instance().drop_time );
        serializer().serializeServerParamEnd( transport() );
        transport() << std::ends << std::flush;
    }
    
    void
    InitSenderCommonV7::sendPlayerParams()
    {
        serializer().serializePlayerParamBegin( transport() );
        serializer().serializeParam( transport(),
                                     PlayerParam::instance().playerTypes () );
        serializer().serializeParam( transport(),
                                     PlayerParam::instance().subsMax () );