netif.c

在LINUX下运行的仿真机器人服务器源代码

						done_received = TRUE;
						return ;
				} 
        else if (!strcmp(com, "compression")) 
          {
            int level ;
            if ((n = sscanf(command,"(%s %d)",com,&level)) < 2)
              {
                send("(error illegal_command_form)") ;
                return ;
              }
#ifdef HAVE_LIBZ
            if( level > 9 )
              {
                send("(error illegal_command_form)") ;
                return ;
              }
            

#ifdef HAVE_SSTREAM
            std::ostringstream reply;            
            reply << "(ok compression " << level << ")";
            send ( reply.str().c_str() );
#else
            std::ostrstream reply;
            
            reply << "(ok compression " << level << ")" << std::ends;
            send ( reply.str() );
            reply.freeze( false );
#endif
            setCompressionLevel ( level );
            
#else
            send ( "(warning compression_unsupported)" );
#endif
            return ;
          } 
        else {
						send("(error unknown_command)") ;
						return ;
        }
}

void Coach::look(Stadium& stad) 
{
#ifdef HAVE_SSTREAM
    std::ostringstream ost;
#else
    std::ostrstream ost;
#endif

    ost << "(ok look " << stad.time ;
    if ( version >= 7.0 )
      ost << " (" << GOAL_L_NAME_SHORT;
    else
      ost << " (" << GOAL_L_NAME;
    
    ost << " " << -(PITCH_LENGTH/2.0)
        << " " << 0.0
        << ")" ;
    
    if ( version >= 7.0 )
      ost << " (" << GOAL_R_NAME_SHORT; 
    else
      ost << " (" << GOAL_R_NAME;
    
    ost << " " << (PITCH_LENGTH/2.0)
        << " " << 0.0
        << ")" ;
    if ( version >= 7.0 )
      ost << " (" << BALL_NAME_SHORT;
    else
      ost << " (" << BALL_NAME;
    
    ost << " " << stad.ball->pos.x
        << " " << stad.ball->pos.y
        << " " << stad.ball->vel.x
        << " " << stad.ball->vel.y
        << ")" ;
    
    TheNumber i ;
    for(i = 0 ; i < MAX_PLAYER * 2; i++ )
      {
        if (stad.player[i]->alive == DISABLE)
          continue ;
        if ( version >= 7.0 )               
          ost << " (" << (stad.player[i])->short_name
              << " " << (stad.player[i])->pos.x
              << " " << (stad.player[i])->pos.y
              << " " << (stad.player[i])->vel.x
              << " " << (stad.player[i])->vel.y
              << " " << Rad2IDegRound((stad.player[i])->angle)
              << " " << Rad2IDegRound((stad.player[i])->angle_neck_committed)
              << ")" ;    
        else
          ost << " (" << (stad.player[i])->name
              << " " << (stad.player[i])->pos.x
              << " " << (stad.player[i])->pos.y
              << " " << Rad2IDeg((stad.player[i])->angle)
              << " " << Rad2IDeg((stad.player[i])->angle_neck_committed)
              << " " << (stad.player[i])->vel.x
              << " " << (stad.player[i])->vel.y
              << ")" ;
      }
    ost << ")" << std::endl;
#ifdef HAVE_SSTREAM
    send(ost.str().c_str());
#else
    ost << std::ends;
    send(ost.str());
    ost.freeze();
#endif

}

void Coach::team_names(Stadium& stad)
{
#ifdef HAVE_SSTREAM
  std::ostringstream ost;
#else
  std::ostrstream ost;
#endif
  
  ost << "(ok team_names";
  
  if (stad.team_l->name)
    {
      ost << " (team l " << stad.team_l->name << ")";
    }
  if (stad.team_r->name)
    {
      ost << " (team r " << stad.team_r->name << ")";
    }
  
  ost << ")" << std::endl;
#ifdef HAVE_SSTREAM
  send(ost.str().c_str()) ;
#else
  ost<< std::ends;
  send(ost.str()) ;
  ost.freeze();
#endif
}

void Coach::recover(Stadium& stad)
{
  stad.recovery_players();
  
#ifdef HAVE_SSTREAM
  std::ostringstream ost;
  ost << "(ok recover)" << std::endl;
  send(ost.str().c_str());
#else
  std::ostrstream ost;
  ost << "(ok recover)" << std::endl << std::ends;
  send(ost.str()) ;
  ost.freeze();
#endif
}



void Coach::send_visual_info(void) 
{
    int i;
#ifdef HAVE_SSTREAM
    std::ostringstream ost;
#else
    std::ostrstream ost;
#endif

    if ( version >= 7.0 )    
      ost << "(see_global " << stadium->time; 
    else
      ost << "(see " << stadium->time; 
    
    if ( version >= 7.0 )
      ost << " (" << GOAL_L_NAME_SHORT;
    else
      ost << " (" << GOAL_L_NAME;
    ost << " " << -(PITCH_LENGTH/2.0)
        << " " << 0.0
        << ")" ;
    
    if ( version >= 7.0 )
      ost << " (" << GOAL_R_NAME_SHORT;
    else
        ost << " (" << GOAL_R_NAME;
    ost << " " << (PITCH_LENGTH/2.0)
        << " " << 0.0
        << ")" ;
    
    if ( version >= 7.0 )
      ost << " (" << BALL_NAME_SHORT;
    else
      ost << " (" << BALL_NAME;    
    ost << " " << stadium->ball->pos.x
        << " " << stadium->ball->pos.y
        << " " << stadium->ball->vel.x
        << " " << stadium->ball->vel.y
        << ")" ;
    
    for(i = 0 ; i < MAX_PLAYER * 2; i++ ) {
      if (stadium->player[i]->alive == DISABLE)
        continue ;
      
      if ( version >= 7.0 )
        {
          ost << " (" << (stadium->player[i])->short_name
              << " " << (stadium->player[i])->pos.x
              << " " << (stadium->player[i])->pos.y
              << " " << (stadium->player[i])->vel.x
              << " " << (stadium->player[i])->vel.y
              << " " << Rad2IDegRound((stadium->player[i])->angle)
              << " " << Rad2IDegRound((stadium->player[i])->angle_neck_committed);
          if ( version >= 8.0 )
            {
              double arm_dir;
              if ( (stadium->player[i])->getArm ().getRelDir ( rcss::geom::Vector2D ( (stadium->player[i])->pos.x,
                                                                                      (stadium->player[i])->pos.y ),
                                                               (stadium->player[i])->angle_body 
                                                               + (stadium->player[i])->angle_neck_committed,
                                                               arm_dir ) )
                ost << " " << Rad2IDegRound ( normalize_angle ( arm_dir 
                                                                + (stadium->player[i])->angle_neck_committed 
                                                                + (stadium->player[i])->angle ) );
              if( (stadium->player[i])->isTackling() )
                ost << " t";
            }
          ost << ")" ;
        }
      else
        ost << " (" << (stadium->player[i])->name
            << " " << (stadium->player[i])->pos.x
            << " " << (stadium->player[i])->pos.y
            << " " << Rad2IDeg((stadium->player[i])->angle)
            << " " << Rad2IDeg((stadium->player[i])->angle_neck_committed)
            << " " << (stadium->player[i])->vel.x
            << " " << (stadium->player[i])->vel.y
            << ")" ;
    }
    ost << ")" << std::endl;
#ifdef HAVE_SSTREAM
    send(ost.str().c_str()) ;
#else
    ost << std::ends;
    
    send(ost.str()) ;
    ost.freeze( false );
#endif
}

void Coach::check_ball(Stadium& stad)
{
#ifdef HAVE_SSTREAM
  std::ostringstream ost;
#else
  std::ostrstream ost;
#endif

  static char* BallPosInfoStr[] = BALL_POS_INFO_STRINGS ;
  BallPosInfo info = stad.check_ball_pos() ;
  
  ost << "(ok check_ball " << stad.time << " " ;
  
  ost << BallPosInfoStr[info] << ")";

  ost << std::ends ;
  
#ifdef HAVE_SSTREAM
    send(ost.str().c_str()) ;
#else
    ost << std::ends;
    
    send(ost.str()) ;
    ost.freeze( false );
#endif
}


void OnlineCoach::parse_command( const char *command )
{
  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,"check_ball")) {
    check_ball( *stadium ) ;
  }
  else if (!strcmp(com,"look")) {
    look( *stadium ) ;
  }
  else if (!strcmp(com,"team_names")) {
    team_names( *stadium ) ;
  }
  else if( !strcmp( com, "say" ) )
    {
      if (version >= 7.0) 
        {
          /* parsing for new coach language */

          rcss::clang::MsgBuilder builder;
          rcss::clang::Parser parser( builder );

          int ret = parser.parse( command ); 
          if( ret == 0 && builder.getMsg() != NULL )
            {
              //succeful parse
              bool should_queue = false;
              
              rcss::clang::Msg* msg = builder.detatchMsg().release();
              
              msg->setTimeRecv( stadium->time );
              
	      switch( msg->getType() )
	      {
		  case rcss::clang::Msg::META:
		      if( stadium->mode != PM_PlayOn )
		      {
			  should_queue = true;
		      } 
		      else if( meta_messages_left != 0 )
		      {
			  //remember, negative implies we can send as many as we want
			  --meta_messages_left;
			  should_queue = true;
		      } 
		      else 
		      {
			  send( "(error said_too_many_meta_messages)" );
		      }
		      break;
		  case rcss::clang::Msg::FREEFORM:
		      if( stadium->mode != PM_PlayOn
			  || stadium->canSendFreeform() )
		      {
			  if( freeform_messages_said < freeform_messages_allowed
			      || freeform_messages_allowed < 0 )
			  {
			      should_queue = true;
			      freeform_messages_said++;
			  } 
			  else 
			  {
			      send( "(error said_too_many_freeform_messages)" );
			  }
		      }
		      else
		      {
			  send( "(error cannot_say_freeform_while_playon)" );
		      }
		      break;
		  case rcss::clang::Msg::INFO:
		      if( stadium->mode != PM_PlayOn )
		      {
			  should_queue = true;
		      }
		      else if(info_messages_left != 0)
		      {
			  //remember, negative implies we can send as many as we want
			  --info_messages_left;
			  should_queue = true;
		      }
		      else
		      {
			  send( "(error said_too_many_info_messages)" );
		      }
		      break;
		  case rcss::clang::Msg::ADVICE:
		      if( stadium->mode != PM_PlayOn )
		      {
			  should_queue = true;
		      } 
		      else if( advice_messages_left != 0 )
		      {
			  //remember, negative implies we can send as many as we want
			  --advice_messages_left;
			  should_queue = true;
		      }
		      else
		      {
			  send( "(error said_too_many_advice_messages)" );
		      }
		      break;
		  case rcss::clang::Msg::DEFINE:
		      if( stadium->mode != PM_PlayOn )
		      {
			  should_queue = true;
		      }
		      else if( define_messages_left != 0 )
		      {
			  //remember, negative implies we can send as many as we want
			  --define_messages_left;
			  should_queue = true;
		      }
		      else
		      {
			  send( "(error said_too_many_define_messages)" );
		      }
		      break;
		  case rcss::clang::Msg::DEL:
		      if( stadium->mode != PM_PlayOn )
		      {
			  should_queue = true;
		      }
		      else if( del_messages_left != 0 )
		      {
			  //remember, negative implies we can send as many as we want
			  --del_messages_left;
			  should_queue = true;
		      }
		      else
		      {
			  send( "(error said_too_many_del_messages)" );
		      }
		      break;
		  case rcss::clang::Msg::RULE:
		      if( stadium->mode != PM_PlayOn )
		      {
			  should_queue = true;
		      }
		      else if( rule_messages_left != 0 )
		      {
			  //remember, negative implies we can send as many as we want
			  --rule_messages_left;
			  should_queue = true;
		      }
		      else
		      {