monitor.cc

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                                 monitor.cc
    A class providing the communication interface for remote monitors that
    connect to the server
                             -------------------
    begin                : 27-DEC-2001
    copyright            : (C) 2001 by The RoboCup Soccer Server 
                           Maintainance 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 "monitor.h"
#include "field.h"

Monitor::Monitor ( Stadium* stadium_p, const double& version )
    : M_stadium_p ( stadium_p ),
      M_version ( version )
{
}

Monitor::~Monitor ()
{
}

bool Monitor::parseCommand ( const char *message )
{
  int n;
  
  if (!strcmp(message,"(dispbye)"))
	  {
      disable();
      return true;
    }
  else if (!strcmp(message,"(dispstart)")) 
    {
      // kick off message
      _Start(*M_stadium_p) ;
    }
  else if (!strncmp(message,"(dispplayer", 11)) 
    {
      // a player is given new position by the monitor
      int side, unum ;
      int x, y, a;
      double real_x, real_y, angle;
      n = sscanf(message,"(dispplayer %d %d %d %d %d)", &side, &unum, &x, &y, &a) ;
      if (n == 5) {
        real_x= x / SHOWINFO_SCALE;
        real_y= y / SHOWINFO_SCALE;
        angle= Deg2Rad(a); 
        Player* p = (side == LEFT ? M_stadium_p->team_l : M_stadium_p->team_r)->player[unum-1];
        p->pos = PVector(real_x, real_y);
        p->vel = 0;
        p->angle= angle;
        //check_collision(p);
        M_stadium_p->collisions ();
      }
    }
  else if (!strncmp(message,"(dispdiscard", 12)) 
    {
      // a player is discarded by the monitor
      int side, unum ;
      n = sscanf(message,"(dispdiscard %d %d)", &side, &unum) ;
      if (n == 2)
        M_stadium_p->discard_player(side, unum) ;
    }
  else if (!strncmp(message, "(compression", 12)) 
    {
      int level ;
      if ((n = sscanf(message,"(compression %d)", &level)) < 1)
        {
           send("(error illegal_command_form)") ;
          return false;
        }
#ifdef HAVE_LIBZ
      if ( level > 9 )
        {
           send("(error illegal_command_form)") ;
          return false;
        }

#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
    } 
  else 
    {
      // foul or drop_ball
      int x, y, side ;
      double real_x, real_y ;
      n = sscanf(message,"(dispfoul %d %d %d)", &x, &y, &side) ;
      
      if (n == 3) {
        real_x = x / SHOWINFO_SCALE ;
        real_y = y / SHOWINFO_SCALE ;
        if ( side == NEUTRAL )
          M_stadium_p->referee_drop_ball(real_x, real_y, side) ;
        else
          M_stadium_p->referee_get_foul(real_x, real_y, side) ;
      }
      else
        // no message sent by a soccermonitor
        return false;
    }
  return true;
}