visualsensor.cc

在LINUX下运行的仿真机器人服务器源代码

      if ( stadium.player[ j ] != &player
           && stadium.player[ j ]->alive != DISABLE 
           && stadium.player [ j ]->obj_ver <= player.version )
				{
          VisualSensor_v1::player_low_data_t data;
          data.set ( *( stadium.player [ j ] ), player );
						
          if ( data.M_range != VisualSensor_v1::OUT )
            M_players.push_back ( data );
				}
		}

  int line_count = 0;
  int max_line_count;
  int min_line_count;
  if ( fabs ( player.pos.x ) < PITCH_LENGTH/2
       && fabs ( player.pos.y ) < PITCH_WIDTH/2 )
    min_line_count = max_line_count = 1;
  else
    {
      max_line_count = 2;
      min_line_count = 0;
    }

  if ( line_count < max_line_count 
       && stadium.field.line_l.obj_ver <= player.version )
		{
      VisualSensor_v1::line_low_data_t data;
      data.set ( stadium.field.line_l, player );
	
      if ( data.M_range != VisualSensor_v1::OUT )
				{
          M_lines.push_back ( data );
          line_count++;
				}
		}
  if ( line_count < max_line_count 
       && stadium.field.line_r.obj_ver <= player.version )
		{
      VisualSensor_v1::line_low_data_t data;
      data.set ( stadium.field.line_r, player );
	
      if ( data.M_range != VisualSensor_v1::OUT )
				{
          M_lines.push_back ( data );
          line_count++;
				}
		}
  if ( line_count < max_line_count 
       && stadium.field.line_t.obj_ver <= player.version )
		{
      VisualSensor_v1::line_low_data_t data;
      data.set ( stadium.field.line_t, player );
	
      if ( data.M_range != VisualSensor_v1::OUT )
				{
          M_lines.push_back ( data );
          line_count++;
				}
		}
  if ( line_count < max_line_count 
       && stadium.field.line_b.obj_ver <= player.version )
		{
      VisualSensor_v1::line_low_data_t data;
      data.set ( stadium.field.line_b, player );
	
      if ( data.M_range != VisualSensor_v1::OUT )
				{
          M_lines.push_back ( data );
          line_count++;
				}
		}
  if( line_count < min_line_count )
    std::cerr << __FILE__ << ": " << __LINE__
         << ": Error rendering visual: not enough lines\n"
         << "Player = " << player << std::endl;
}



void VisualSensor_v1::high_data_t::set ( const Stadium& stadium,
																				 const Player& player )
{
  M_time = stadium.time;

  for( int j = 0 ; j < stadium.votable.n ; j++ )
		{
      switch ( stadium.votable.object [ j ]->getObjectType () )
				{
        case MPObject::OT_GOAL:
          if ( stadium.votable.object [ j ]->obj_ver <= player.version )
            {
              VisualSensor_v1::goal_high_data_t data;
              data.set ( *( stadium.votable.object [ j ] ), player );
										
              if ( data.M_range != VisualSensor_v1::OUT )
                M_goals.push_back ( data );
            }	
          break;

        case MPObject::OT_FLAG:
          if ( stadium.votable.object [ j ]->obj_ver <= player.version )
            {
              VisualSensor_v1::flag_high_data_t data;
              data.set ( *( stadium.votable.object [ j ] ), player );
										
              if ( data.M_range != VisualSensor_v1::OUT )
                M_flags.push_back ( data );
            }	
          break;

        default:
          break;
				}
		}

  for( int j = 0 ; j < stadium.motable.n ; j++ )
		{
      switch ( stadium.motable.object [ j ]->getObjectType () )
				{
        case MPObject::OT_BALL:
          if ( stadium.motable.object [ j ]->obj_ver <= player.version )
            {
              VisualSensor_v1::ball_high_data_t data;
              data.set ( *( stadium.motable.object [ j ] ), player );

              if ( data.M_range != VisualSensor_v1::OUT )
                M_balls.push_back ( data );
            }
          break;
												
        default:
          break;
				}
		}

  for ( int j = 0 ; j < MAX_PLAYER * 2; j++) 
		{
      if ( stadium.player[ j ] != &player
           && stadium.player[ j ]->alive != DISABLE 
           && stadium.player [ j ]->obj_ver <= player.version )
				{			
          VisualSensor_v1::player_high_data_t data;
          data.set ( *( stadium.player [ j ] ), player );
						
          if ( data.M_range != VisualSensor_v1::OUT )
            M_players.push_back ( data );
				}
		}

  int line_count = 0;
  int max_line_count;
  int min_line_count;
  if ( fabs ( player.pos.x ) < PITCH_LENGTH/2
       && fabs ( player.pos.y ) < PITCH_WIDTH/2 )
    min_line_count = max_line_count = 1;
  else
    {
      max_line_count = 2;
      min_line_count = 0;
    }

  if ( line_count < max_line_count 
       && stadium.field.line_l.obj_ver <= player.version )
		{
      VisualSensor_v1::line_high_data_t data;
      data.set ( stadium.field.line_l, player );
	
      if ( data.M_range != VisualSensor_v1::OUT )
				{
          M_lines.push_back ( data );
          line_count++;
				}
		}
  if ( line_count < max_line_count 
       && stadium.field.line_r.obj_ver <= player.version )
		{
      VisualSensor_v1::line_high_data_t data;
      data.set ( stadium.field.line_r, player );
	
      if ( data.M_range != VisualSensor_v1::OUT )
				{
          M_lines.push_back ( data );
          line_count++;
				}
		}
  if ( line_count < max_line_count 
       && stadium.field.line_t.obj_ver <= player.version )
		{
      VisualSensor_v1::line_high_data_t data;
      data.set ( stadium.field.line_t, player );
	
      if ( data.M_range != VisualSensor_v1::OUT )
				{
          M_lines.push_back ( data );
          line_count++;
				}
		}
  if ( line_count < max_line_count 
       && stadium.field.line_b.obj_ver <= player.version )
		{
      VisualSensor_v1::line_high_data_t data;
      data.set ( stadium.field.line_b, player );
	
      if ( data.M_range != VisualSensor_v1::OUT )
				{
          M_lines.push_back ( data );
          line_count++;
				}
		}
  if( line_count < min_line_count )
    std::cerr << __FILE__ << ": " << __LINE__
         << ": Error rendering visual: not enough lines\n"
         << "Player = " << player << std::endl;

  M_lines.sort();
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_low_close_data_t& data )
{
  return o << "(" << O_TYPE_BALL_NAME
           << " " << data.M_direction << ")";
}


std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_low_normal_data_t& data )
{
  return o << "(" << BALL_NAME
           << " " << data.M_direction << ")";
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_low_data_t& data )
{
  switch ( data.M_range )
		{
    case VisualSensor_v1::CLOSE:
      return toStr ( o, data.M_close_data );
    case VisualSensor_v1::NORMAL:
      return toStr ( o, data.M_normal_data );
    default:
      return o;
		}
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_close_data_t& data )
{
  return o << "(" << O_TYPE_PLAYER_NAME
           << " " << data.M_direction << ")";
}


std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_normal_data_t& data )
{
  return o << "(" << data.M_name
           << " " << data.M_direction << ")";
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_ufar_data_t& data )
{
  return o << "(" << data.M_name
           << " " << data.M_direction << ")";
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_tfar_data_t& data )
{
  return o << "(" << data.M_name
           << " " << data.M_direction << ")";
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_low_data_t& data )
{
  switch ( data.M_range )
		{
    case VisualSensor_v1::CLOSE:
      return toStr ( o, data.M_close_data );
    case VisualSensor_v1::NORMAL:
      return toStr ( o, data.M_normal_data );
    case VisualSensor_v1::UFAR:
      return toStr ( o, data.M_ufar_data );
    case VisualSensor_v1::TFAR:
      return toStr ( o, data.M_tfar_data );
    default:
      return o;
		}
}


std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_low_close_data_t& data )
{
  return o << "(" << O_TYPE_FLAG_NAME
           << " " << data.M_direction << ")";
}


std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_low_normal_data_t& data )
{
  return o << "(" << data.M_name
           << " " << data.M_direction << ")";
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::flag_low_data_t& data )
{
  switch ( data.M_range )
		{
    case VisualSensor_v1::CLOSE:
      return toStr ( o, data.M_close_data );
    case VisualSensor_v1::NORMAL:
      return toStr ( o, data.M_normal_data );
    default:
      return o;
		}
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_low_close_data_t& data )
{
  return o << "(" << O_TYPE_GOAL_NAME
           << " " << data.M_direction << ")";
}


std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_low_normal_data_t& data )
{
  return o << "(" << data.M_name
           << " " << data.M_direction << ")";
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::goal_low_data_t& data )
{
  switch ( data.M_range )
		{
    case VisualSensor_v1::CLOSE:
      return toStr ( o, data.M_close_data );
    case VisualSensor_v1::NORMAL:
      return toStr ( o, data.M_normal_data );
    default:
      return o;
		}
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::line_low_normal_data_t& data )
{
  return o << "(" << data.M_name
           << " " << data.M_direction << ")";
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::line_low_data_t& data )
{
  switch ( data.M_range )
		{
    case VisualSensor_v1::NORMAL:
      return toStr ( o, data.M_normal_data );
    default:
      return o;
		}
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_high_close_data_t& data )
{
  return o << "(" << O_TYPE_BALL_NAME
           << " " << data.M_distance
           << " " << data.M_direction << ")";		
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_high_normal_data_t& data )
{
  return o << "(" << BALL_NAME
           << " " << data.M_distance
           << " " << data.M_direction 
           << " " << data.M_vel.M_dist_chg
           << " " << data.M_vel.M_dir_chg << ")";		
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_high_ufar_data_t& data )
{
  return o << "(" << BALL_NAME
           << " " << data.M_distance
           << " " << data.M_direction << ")";		
}

std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::ball_high_data_t& data )
{
  switch ( data.M_range )
		{
    case VisualSensor_v1::CLOSE:
      return toStr ( o, data.M_close_data );
    case VisualSensor_v1::NORMAL:
      return toStr ( o, data.M_normal_data );
    case VisualSensor_v1::UFAR:
      return toStr ( o, data.M_ufar_data );
    default:
      return o;
		};
}


std::ostream& toStr ( std::ostream& o, const VisualSensor_v1::player_high_close_data_t& data )
{
  return o << "(" << O_TYPE_PLAYER_NAME
           << " " << data.M_distance
           << " " << data.M_direction << ")";		
}