netif.c

在LINUX下运行的仿真机器人服务器源代码

//                      sprintf ( tmp,
//                                "(change_player_type %d)\n",
//                                team_r->player[i]->unum );
//                  else
//                      sprintf ( tmp,
//                                "(change_player_type %s %d %d)\n",
//                                team_r->name,
//                                team_r->player[i]->unum,
//                                team_r->player[i]->player_type_id );

//                  coach->send ( tmp );
//                  }
//              }
//  }

//  void Stadium::send_changed_players ( Player* player )
//  {
//      if ( player == NULL || !player->connected() ) // || player->version < 7.0
//          return;

//      player->sendChangedPlayers();

//   //     char tmp[MaxStringSize] ;
//  //      if ( team_l != NULL )
//  //          for ( int i = 0; i < team_l->n; i++ )
//  //              {
//  //              if ( team_l->player[i]->player_type_id != 0 )
//  //                  {
//  //                  if ( player->team == team_l )
//  //                      sprintf ( tmp,
//  //                                "(change_player_type %d %d)\n",
//  //                                team_l->player[i]->unum,
//  //                                team_l->player[i]->player_type_id );
//  //                  else if ( player->team == team_r )
//  //                      sprintf ( tmp,
//  //                                "(change_player_type %d)\n",
//  //                                team_l->player[i]->unum );
//  //                  else
//  //                      return;

//  //                  player->send ( tmp );
//  //                  }
//  //              }

//  //      if ( team_r != NULL )
//  //          for ( int i = 0; i < team_r->n; i++ )
//  //              {
//  //              if ( team_r->player[i]->player_type_id != 0 )
//  //                  {
//  //                  if ( player->team == team_r )
//  //                      sprintf ( tmp,
//  //                                "(change_player_type %d %d)\n",
//  //                                team_r->player[i]->unum,
//  //                                team_r->player[i]->player_type_id );
//  //                  else if ( player->team == team_l )
//  //                      sprintf ( tmp,
//  //                                "(change_player_type %d)\n",
//  //                                team_r->player[i]->unum );
//  //                  else
//  //                      return;

//  //                  player->send ( tmp );
//  //                  }
//  //              }

//  }

/*
 *===================================================================
 *  Coach
 *===================================================================
 */
int Coach::parse_init ( Stadium& stad, char *command, 
                        const rcss::net::Addr& addr )
{		

    char com[MaxStringSize] ;
    int n ;
    n = sscanf(command, "(%[-0-9a-zA-Z.+*/?<>_]",com) ;
    if(n<1) 
    {
        send("(error illegal_command_form)"); 
        return 0; 
    }
    
    if (!strcmp ( com, "init" ) )
    {
        float ver = 0.0;
        n = sscanf ( command, "(init (version %f))", &ver );
        if ( n < 1.0 )
        {
            send("(error illegal_command_form)");
            return 0;
        }
        
	if( !connect( addr ) )
	{
            return 0;
        }
        
        version = ver;
        
	bool found = true;
	rcss::SerializerCoach::Creator ser_cre;
	if( rcss::SerializerCoach::factory().getCreator( ser_cre,
							 (int)ver ) )
	{
            const rcss::SerializerCoach* ser = ser_cre();
	    if( ser )
	    {
		rcss::AudioSenderCoach::Params audio_params( stad,
							     getTransport(),
							     *this,
							     *ser );

		rcss::AudioSenderCoach::Creator audio_cre;
		if( rcss::AudioSenderCoach::factory().getCreator( audio_cre,
								  (int)ver ) )
		{
		    setAudioSender( audio_cre( audio_params ) );
		    
		    rcss::InitSenderOfflineCoach::Params init_params( getTransport(),
								      *this,
								      stad,
								      *ser );
		    rcss::InitSenderOfflineCoach::Creator init_cre;
		    if( rcss::InitSenderOfflineCoach::factory().getCreator( init_cre,
									    (int)version ) )
		    {
			rcss::InitSenderOfflineCoach::Ptr isoc = init_cre( init_params ); 
			rcss::InitObserver<rcss::InitSenderOfflineCoach>::setInitSender( isoc );      
		    }
		    else
			found = false;
		}
		else 
		    found = false;
	    }
	    else
		found = false;
	}
	else
	    found = false;

	if( !found )
	{
            cerr << "Error: Could not find serializer or sender for version" 
                 << (int)version << endl;
            return 0;
        } 
        
        setEnforceDedicatedPort ( ver >= 8.0 );
        stad.addOfflineCoach( this );
        
        stad.addListener( this );
        
        sendInit();
        //send("(init ok)") ;
        
        sendServerParams();
        sendPlayerParams();
        sendPlayerTypes();
        sendChangedPlayers();
    
//          stad.send_parameter_info ( this );
//          stad.send_changed_players ( this );
        return 1;
    }
    else 
    {
        // old type of coach that doesn;t send an init message
        return -1;
    }
}

void Coach::parse_command ( const char *command ) 
//			  unsigned long host, int port)
{
//          client.host = host ;
//          client.port = port ;

        char com[MaxStringSize] ;
        int n ;

        n = sscanf(command, "(%[-0-9a-zA-Z.+*/?<>_]",com) ;
        if(n<1) 
				{
						send("(error illegal_command_form)"); 
						return ; 
				}

				if ( !strcmp ( com, "start" ) )
				{
						_Start ( *stadium );
						send("(ok start)");
				}
	
        else if(!strcmp(com,"change_mode")) {
                char new_mode[MaxStringSize] ;
                PlayMode mode_id ;
                n = sscanf(command,"(change_mode %[-0-9a-zA-Z.+*/?<>_])", new_mode) ;
                if(n<1) 
                  {
                    send("(error illegal_command_form)"); 
                    return ;
                  }
                mode_id = PlayModeID(new_mode) ;

                if(mode_id == PM_Null) { send("(error illegal_mode)") ; return ; }
                stadium->change_play_mode(mode_id) ; 
                send("(ok change_mode)") ;
        }
        else if (!strcmp(com,"move")) 
        {
            char obj[MaxStringSize] ;
            double x = 0.0, y = 0.0, ang = 0.0, velx = 0.0, vely = 0.0 ;

            command++ ;
            while(*command != '(') {
                if (*command == NULLCHAR) {
                    send("(error illegal_object_form)") ;
                    return ;
                }
                command++ ;
            }
            int i = 0 ;
            while(*command != ')') {
                if (*command == NULLCHAR) {
                    send("(error illegal_object_form)") ;
                    return ;
                }
                *(obj+i) = *command ;
                i++ ; command++ ;
            }
            *(obj+i) = *command ;
            i++ ; command++ ;
            *(obj+i) = NULLCHAR ;
            
            if (!strcmp(obj, BALL_NAME))
                stadium->M_caught_ball = NULL;

            n = sscanf(command," %lf %lf %lf %lf %lf)",&x,&y,&ang,&velx,&vely) ;
            if ( isnan ( x ) != 0 ||
                 isnan ( y ) != 0 ||
                 isnan ( ang ) != 0 ||
                 isnan ( velx ) != 0 ||
                 isnan ( vely ) != 0
                )
            {
                send("(error illegal_command_form)") ;
                return;
            }
            if (n==2)
            {
                if (!strcmp(obj, BALL_NAME))
                    stadium->set_ball(PVector(x,y), LEFT) ;
                else if( stadium->move_object(obj,PVector(x,y)) )
                    stadium->collisions ();
                else
                {
                    send("(error illegal_object_form)") ;
                    return;
                } 
            }
            else if (n==3)
            {
                if (!strcmp(obj, BALL_NAME))
                    stadium->set_ball(PVector(x,y), LEFT, ang) ;
                else if( stadium->move_object(obj,PVector(x,y),
                                              Deg2Rad(std::max(std::min((ang),
                                                                        ServerParam::instance().maxm),
                                                               ServerParam::instance().minm))))
                    stadium->collisions ();
                else
                {
                    send("(error illegal_object_form)") ;
                    return;
                } 
            }
            else if (n==5)
            {
                if (!strcmp(obj, BALL_NAME))
                    stadium->set_ball(PVector(x,y), LEFT, ang,
                                      PVector(velx, vely)) ;
                else if( stadium->move_object(obj,PVector(x,y),
                                              Deg2Rad(std::max(std::min((ang),
                                                                        ServerParam::instance().maxm),
                                                               ServerParam::instance().minm)),
                                              PVector(velx, vely)) )
                    stadium->collisions ();
                else
                {
                    send("(error illegal_object_form)") ;
                    return;
                } 
            }
            else 
            {
                send("(error illegal_command_form)");
                return ;
            }
            send("(ok move)") ;
        }
        else if (!strcmp(com,"look")) {
                look ( *stadium ) ;
        }
        else if (!strcmp(com,"team_names")) {
                team_names ( *stadium ) ;
        }
        else if (!strcmp(com,"recover")) {
                recover ( *stadium );
        }
        else if (!strcmp(com,"check_ball")) {
                check_ball ( *stadium ) ;
        }
        else if( !strcmp( com, "say" ) ) 
          {
            static char msg[MaxStringSize] ;
            n = sscanf( command, SAY_MESSAGE_SCAN_FORMAT, com, msg );
            if( n < 2 )
              {
                send( "(error illegal_command_form)" );
                return;
              }
            chop_last_parenthesis( msg, ServerParam::instance().sayMsgSize() );
            stadium->say( msg, false );
            send("(ok say)") ;
          }
        else if (!strcmp(com,"ear")) {
                char mode[16] ;
                n = sscanf(command,"(%s %s)", com, mode) ;
                if(n<2) {send("(error illegal_command_form)"); return ;}
                if (!strcmp(mode,"on)")) {
                        hear = TRUE ;
                        send("(ok ear on)") ;
                }
                else if (!strcmp(mode, "off)")) {
                        hear = FALSE ;
                        send("(ok ear off)") ;
                }
								else
								{
										send("(error illegal_command_form)"); 
										return ;
								}
        }
        else if (!strcmp(com,"eye")) {
                char mode[16] ;
                n = sscanf(command,"(%s %s)", com, mode) ;
                if(n<2) {send("(error illegal_command_form)"); return ;}
                if (!strcmp(mode,"on)")) {
                        eye = TRUE ;
                        send("(ok eye on)") ;
                }
                else if (!strcmp(mode, "off)")) {
                        eye = FALSE ;
                        send("(ok eye off)") ;
                }
                else
                  {
                    send("(error illegal_command_form)"); 
                    return ;
                  }
        }
        else if ( !strcmp ( com, "change_player_type" ) )
            {
            char name[128];
            int unum, player_type;
            if ( sscanf ( command, "(%s %s %d %d)", 
                          com, name, &unum, &player_type ) < 4 )
                {
                send("(error illegal_command_form)");
                return ;
                }

            Team* team = NULL;
            if ( stadium->team_l != NULL && stadium->team_l->name != NULL && 
                 !strcmp ( name, stadium->team_l->name ) ) 
              team = stadium->team_l;
            
            if ( stadium->team_r != NULL && stadium->team_r->name != NULL && 
                 !strcmp ( name, stadium->team_r->name ) ) 
              team = stadium->team_r;
            

            if ( team == NULL )
                {
                send("(warning no_team_found)");
                return ;
                }

            if ( player_type < 0 
                 || player_type >= PlayerParam::instance().playerTypes() )
              {
                send("(error out_of_range_player_type)");
                return;
              }
            
            Player* player = NULL; 
            for ( int i = 0; i < team->n; i++ )
                {
                if ( team->player[ i ] != NULL 
                     && team->player[ i ]->unum == unum )
                    {
                    player = team->player[ i ];
                    break;
                    }
                }

            if ( player == NULL )
                {
                send("(warning no_such_player)");
                return ;
                }

            player->substitute ( player_type );
            
            if ( team == stadium->team_l )
                stadium->broadcastSubstitution ( LEFT, unum , player_type, true );
            else
                stadium->broadcastSubstitution ( RIGHT, unum , player_type, true );

            char buf[64];
            sprintf ( buf, "(ok change_player_type %s %d %d)", name, unum, player_type );
            
            send( buf );
            
            return ;
            }   
				//pfr:SYNCH
				else if (!strcmp(com, "done")) {
						//std::cerr << "Recv trainer done" << std::endl;