visualsensor.h

在LINUX下运行的仿真机器人服务器源代码

    union 
    {
      VisualSensor_v1::flag_high_close_data_t M_close_data;						
      VisualSensor_v1::flag_high_normal_data_t M_normal_data;
      VisualSensor_v1::flag_high_ufar_data_t M_ufar_data;
    };

    void set ( const PObject& flag, const Player& player );
  };

  struct goal_high_data_t
  {
    VisualSensor_v1::range_t M_range;

    union 
    {
      VisualSensor_v1::goal_high_close_data_t M_close_data;						
      VisualSensor_v1::goal_high_normal_data_t M_normal_data;
      VisualSensor_v1::goal_high_ufar_data_t M_ufar_data;
    };

    void set ( const PObject& goal, const Player& player );
  };

  struct line_high_data_t
  {
    VisualSensor_v1::range_t M_range;

    VisualSensor_v1::line_high_normal_data_t M_normal_data;

    void set ( const PObject& line, const Player& player );

    bool
    operator<( const line_high_data_t& data ) const
    {
      return M_normal_data < data.M_normal_data;
    }
  };


  struct low_data_t
  {
    int M_time;

    std::list< VisualSensor_v1::goal_low_data_t > M_goals;
    std::list< VisualSensor_v1::flag_low_data_t > M_flags;
    std::list< VisualSensor_v1::ball_low_data_t > M_balls;
    std::list< VisualSensor_v1::player_low_data_t > M_players;
    std::list< VisualSensor_v1::line_low_data_t > M_lines;

    void set ( const Stadium& stadium, const Player& player );
  };

  struct high_data_t
  {
    int M_time;

    std::list< VisualSensor_v1::goal_high_data_t > M_goals;
    std::list< VisualSensor_v1::flag_high_data_t > M_flags;
    std::list< VisualSensor_v1::ball_high_data_t > M_balls;
    std::list< VisualSensor_v1::player_high_data_t > M_players;
    std::list< VisualSensor_v1::line_high_data_t > M_lines;

    void set ( const Stadium& stadium, const Player& player );
  };

  virtual void send ( const VisualSensor_v1::low_data_t& data ) = 0;
  virtual void send ( const VisualSensor_v1::high_data_t& data ) = 0;
};

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_tfar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_low_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::line_low_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::line_low_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_high_tfar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_high_close_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_high_ufar_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::line_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::line_high_data_t& data );

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::low_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::high_data_t& data );

//===================================================================
//
//  CLASS: VisualSensor_v4
//
//  DESC: Class for the version 4 visual protocol.  This version
//        introduced body directions of players. All other objects
//        are the same, so they don't need to be redefined
//
//===================================================================

class VisualSensor_v4
  : public VisualSensor_v1
{
public:
  struct obj_body_dir_data_t
  {
    int M_body_dir;

    static int calcBodyDir ( const Player& observed_player, const Player& player );
  };

  struct player_high_normal_data_t
    : public VisualSensor_v4::obj_dir_data_t,
      public VisualSensor_v4::obj_dist_data_t,
      public VisualSensor_v4::obj_vel_data_t,
      public VisualSensor_v4::obj_name_data_t,
      public VisualSensor_v4::obj_body_dir_data_t
  {
  };

  struct player_high_data_t
  {
    VisualSensor_v4::range_t M_range;

    union 
    {
      VisualSensor_v4::player_high_close_data_t M_close_data;						
      VisualSensor_v4::player_high_normal_data_t M_normal_data;
      VisualSensor_v4::player_high_ufar_data_t M_ufar_data;
      VisualSensor_v4::player_high_tfar_data_t M_tfar_data;
    };

    void set ( const Player& observered_player, const Player& player );
  };

  struct high_data_t
  {
    int M_time;

    std::list< VisualSensor_v4::goal_high_data_t > M_goals;
    std::list< VisualSensor_v4::flag_high_data_t > M_flags;
    std::list< VisualSensor_v4::ball_high_data_t > M_balls;
    std::list< VisualSensor_v4::player_high_data_t > M_players;

    void set ( const Stadium& stadium, const Player& player );
  };

  virtual void send ( const VisualSensor_v4::low_data_t& data ) = 0;
  virtual void send ( const VisualSensor_v4::high_data_t& data ) = 0;
};

std::ostream& toStr ( std::ostream& o, const VisualSensor_v4::player_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v4::player_high_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v4::high_data_t& data );


//===================================================================
//
//  CLASS: VisualSensor_v5
//
//  DESC: Class for the version 5 visual protocol.  This version
//        introduced head directions of players. All other objects
//        are the same, so they don't need to be redefined
//
//===================================================================

class VisualSensor_v5
  : public VisualSensor_v4
{
public:
  struct obj_head_dir_data_t
  {
    int M_head_dir;

    static int calcHeadDir ( const Player& observed_player, const Player& player );
  };

  struct player_high_normal_data_t
    : public VisualSensor_v5::obj_dir_data_t,
      public VisualSensor_v5::obj_dist_data_t,
      public VisualSensor_v5::obj_vel_data_t,
      public VisualSensor_v5::obj_name_data_t,
      public VisualSensor_v5::obj_body_dir_data_t,
      public VisualSensor_v5::obj_head_dir_data_t
  {
  };

  struct player_high_data_t
  {
    VisualSensor_v5::range_t M_range;

    union 
    {
      VisualSensor_v5::player_high_close_data_t M_close_data;						
      VisualSensor_v5::player_high_normal_data_t M_normal_data;
      VisualSensor_v5::player_high_ufar_data_t M_ufar_data;
      VisualSensor_v5::player_high_tfar_data_t M_tfar_data;
    };

    void set ( const Player& observered, const Player& player );
  };

  struct high_data_t
  {
    int M_time;

    std::list< VisualSensor_v5::goal_high_data_t > M_goals;
    std::list< VisualSensor_v5::flag_high_data_t > M_flags;
    std::list< VisualSensor_v5::ball_high_data_t > M_balls;
    std::list< VisualSensor_v5::player_high_data_t > M_players;

    void set ( const Stadium& stadium, const Player& player );
  };

  virtual void send ( const VisualSensor_v5::low_data_t& data ) = 0;
  virtual void send ( const VisualSensor_v5::high_data_t& data ) = 0;
};

std::ostream& toStr ( std::ostream& o, const VisualSensor_v5::player_high_normal_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v5::player_high_data_t& data );
std::ostream& toStr ( std::ostream& o, const VisualSensor_v5::high_data_t& data );

//===================================================================
//
//  CLASS: VisualSensor_v6
//
//  DESC: Class for the version 6 visual protocol.  This version
//        introduced shortened names for all the objects meaning they
//        must all be redefined.
//
//===================================================================


class VisualSensor_v6
  : public VisualSensor_v5
{
public:
  struct ball_low_close_data_t
    : public VisualSensor_v6::obj_dir_data_t
  {
  };

  struct player_low_close_data_t
    : public VisualSensor_v6::obj_dir_data_t
  {
  };

  struct flag_low_close_data_t
    : public VisualSensor_v6::obj_dir_data_t
  {
  };

  struct goal_low_close_data_t
    : public VisualSensor_v6::obj_dir_data_t
  {
  };

  struct ball_low_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t
  {
  };

  struct line_low_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct obj_name_data_t
    : public VisualSensor_v5::obj_name_data_t
  {
    static const char* calcName ( const PObject& obj );

    static const char* calcUFarName ( const Player& obj );
    static const char* calcTFarName ( const Player& obj );
  };

  struct player_low_tfar_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct player_low_ufar_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };
  struct player_low_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct flag_low_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct goal_low_normal_data_t
    : public VisualSensor_v6::obj_dir_data_t,
      public VisualSensor_v6::obj_name_data_t
  {
  };

  struct ball_low_data_t
  {
    VisualSensor_v6::range_t M_range;

    union 
    {
      VisualSensor_v6::ball_low_close_data_t M_close_data;						
      VisualSensor_v6::ball_low_normal_data_t M_normal_data;
    };

    void set ( const MPObject& ball, const Player& player );
  };	

  struct player_low_data_t
  {
    VisualSensor_v6::range_t M_range;

    union 
    {
      VisualSensor_v6::player_low_close_data_t M_close_data;						
      VisualSensor_v6::player_low_normal_data_t M_normal_data;
      VisualSensor_v6::player_low_ufar_data_t M_ufar_data;
      VisualSensor_v6::player_low_tfar_data_t M_tfar_data;
    };

    void set ( const Player& observed_player, const Player& player );
  };	

  struct flag_low_data_t
  {
    VisualSensor_v6::range_t M_range;

    union 
    {
      VisualSensor_v6::flag_low_close_data_t M_close_data;						
      VisualSensor_v6::flag_low_normal_data_t M_normal_data;
    };

    void set ( const PObject& flag, const Player& player );
  };

  struct goal_low_data_t
  {
    VisualSensor_v6::range_t M_range;

    union 
    {
      VisualSensor_v6::goal_low_close_data_t M_close_data;						
      VisualSensor_v6::goal_low_normal_data_t M_normal_data;
    };

    void set ( const PObject& flag, const Player& player );
  };

  struct line_low_data_t
  {
    VisualSensor_v6::range_t M_range;

    VisualSensor_v6::line_low_normal_data_t M_normal_data;

    void set ( const PObject& line, const Player& player );
  };

  struct ball_high_close_data_t