serverparam.c

在LINUX下运行的仿真机器人服务器源代码

/* -*- Mode: c++ -*- */

/*
 *Copyright:

    Copyright (C) 1996-2000 Electrotechnical Laboratory. 
    	Itsuki Noda, Yasuo Kuniyoshi and Hitoshi Matsubara.
    Copyright (C) 2000, 2001 RoboCup Soccer Server Maintainance Group.
    	Patrick Riley, Tom Howard, Daniel Polani, Itsuki Noda,
	Mikhail Prokopenko, Jan Wendler 

    This file is a part of SoccerServer.

    This code is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *EndCopyright:
 */

#include <cstring>
#include <iostream>

#include "serverparam.h"
#include <rcssbase/conf/builder.hpp>
#include <rcssbase/conf/parser.hpp>

#include <string>
#include "config.h"


#include "playerparam.h"

ServerParam::Printer::Printer( std::ostream& out, unsigned int version )
    : M_out( out ),
      M_version( version )
{}
        
void
ServerParam::Printer::operator()( const std::pair< const std::string, unsigned int > item )
{
    if( item.second <= M_version )
	{
	    int ivalue;
	    if( ServerParam::instance().getInt( item.first, ivalue ) )
		{
		    M_out << "(" << item.first << " " << ivalue << ")";
                    return;
		}
	    
	    bool bvalue; 
	    if( ServerParam::instance().getBool( item.first, bvalue ) )
		{
                    M_out << "(" << item.first << " " << bvalue << ")";
                    return;
                }
	    
	    double dvalue; 
	    if( ServerParam::instance().getDoub( item.first, dvalue ) )
		{
                    M_out << "(" << item.first << " " << dvalue << ")";
                    return;
                }
	    
	    std::string svalue; 
	    if( ServerParam::instance().getStr( item.first, svalue ) )
		{
                    M_out << "(" << item.first << " " << svalue << ")";
                    return;
                }
	}
}


#if defined(_WIN32) || defined(__WIN32__) || defined (WIN32) || defined (__CYGWIN__)
#  ifndef WIN32
#    define WIN32
#  endif
#endif


#ifdef WIN32
const char ServerParam::LANDMARK_FILE[] = "~\\.rcssserver-landmark.xml";
const char ServerParam::SERVER_CONF[] = "~\\.rcssserver\\server.conf";
const char ServerParam::OLD_SERVER_CONF[] = "~\\.rcssserver-server.conf";
#else
const char ServerParam::LANDMARK_FILE[] = "~/.rcssserver-landmark.xml";
const char ServerParam::SERVER_CONF[] = "~/.rcssserver/server.conf";
const char ServerParam::OLD_SERVER_CONF[] = "~/.rcssserver-server.conf";
#endif

const int ServerParam::SEND_COMMS = false;

const int ServerParam::TEXT_LOGGING = true;
const int ServerParam::GAME_LOGGING = true;
const int ServerParam::GAME_LOG_VERSION = 3;
const char ServerParam::TEXT_LOG_DIR[] = "./";
const char ServerParam::GAME_LOG_DIR[] = "./";
const char ServerParam::TEXT_LOG_FIXED_NAME[] = "rcssserver";
const char ServerParam::GAME_LOG_FIXED_NAME[] = "rcssserver";
const int ServerParam::TEXT_LOG_FIXED = false;
const int ServerParam::GAME_LOG_FIXED = false;
const int ServerParam::TEXT_LOG_DATED = true;
const int ServerParam::GAME_LOG_DATED = true;
const char ServerParam::LOG_DATE_FORMAT[] = "%Y%m%d%H%M-";
const int ServerParam::LOG_TIMES = false;
const int ServerParam::RECORD_MESSAGES = false;
const int ServerParam::TEXT_LOG_COMPRESSION = 0;
const int ServerParam::GAME_LOG_COMPRESSION = 0;
const bool ServerParam::PROFILE = false;

const int ServerParam::KAWAY_LOGGING = true;
const char ServerParam::KAWAY_LOG_DIR[] = "./";
const char ServerParam::KAWAY_LOG_FIXED_NAME[] = "rcssserver";
const int ServerParam::KAWAY_LOG_FIXED = false;
const int ServerParam::KAWAY_LOG_DATED = true;

const int ServerParam::KAWAY_START = -1;

const int ServerParam::POINT_TO_BAN = 5;
const int ServerParam::POINT_TO_DURATION= 20;
const unsigned int ServerParam::SAY_MSG_SIZE = 10;
const unsigned int ServerParam::HEAR_MAX = 1;
const unsigned int ServerParam::HEAR_INC = 1;
const unsigned int ServerParam::HEAR_DECAY = 1;

const double ServerParam::TACKLE_DIST = 2.0;
const double ServerParam::TACKLE_BACK_DIST = 0.5;
const double ServerParam::TACKLE_WIDTH = 1.0;
const double ServerParam::TACKLE_EXPONENT = 6.0;
const unsigned int ServerParam::TACKLE_CYCLES = 10;
const double ServerParam::TACKLE_POWER_RATE = 0.027;

const int ServerParam::NR_NORMAL_HALFS = 2;
const int ServerParam::NR_EXTRA_HALFS = 2;
const bool ServerParam::PENALTY_SHOOT_OUTS = true;

const int    ServerParam::PEN_BEFORE_SETUP_WAIT = 30;
const int    ServerParam::PEN_SETUP_WAIT = 100;
const int    ServerParam::PEN_READY_WAIT =  50;
const int    ServerParam::PEN_TAKEN_WAIT = 200;
const int    ServerParam::PEN_NR_KICKS = 5;
const int    ServerParam::PEN_MAX_EXTRA_KICKS = 10;
const double ServerParam::PEN_DIST_X = 42.5;
const bool   ServerParam::PEN_RANDOM_WINNER = false;
const double ServerParam::PEN_MAX_GOALIE_DIST_X = 14;
const bool   ServerParam::PEN_ALLOW_MULT_KICKS = true;
const bool   ServerParam::PEN_COACH_MOVES_PLAYERS = true;


const unsigned int ServerParam::FREEFORM_WAIT_PERIOD = 600;
const unsigned int ServerParam::FREEFORM_SEND_PERIOD = 20;

const bool ServerParam::FREE_KICK_FAULTS = true;
const bool ServerParam::BACK_PASSES = true;

const bool ServerParam::PROPER_GOAL_KICKS = false;
const double ServerParam::STOPPED_BALL_VEL = 0.01;
const int ServerParam::MAX_GOAL_KICKS = 3;

const int ServerParam::CLANG_DEL_WIN = 1;
const int ServerParam::CLANG_RULE_WIN = 1;

const bool ServerParam::S_AUTO_MODE = false;
const int ServerParam::S_KICK_OFF_WAIT = 100;
const int ServerParam::S_CONNECT_WAIT = 300;
const int ServerParam::S_GAME_OVER_WAIT = 100;

const char ServerParam::S_TEAM_L_START[] = "";
const char ServerParam::S_TEAM_R_START[] = "";

#ifdef MODULEDIR
const char ServerParam::S_MODULE_DIR[] = MODULEDIR;
#else
const char ServerParam::S_MODULE_DIR[] = "/usr/local/lib/rcssserver/modules"
#endif

bool ServerParam::s_in_init = false;

ServerParam&
ServerParam::instance( const std::string& progname )
{ static ServerParam rval( progname ); return rval; }

ServerParam&
ServerParam::instance()
{ return ServerParam::instance( "" ); }

bool
ServerParam::init( const int& argc, const char * const *argv )
{
  s_in_init = true;
  instance( argv[ 0 ] );
  s_in_init = false;
#ifndef WIN32
    if( system( ( "ls " + tildeExpand( ServerParam::OLD_SERVER_CONF ) + " > /dev/null 2>&1" ).c_str() ) == 0 )
    {
        if( system( ( "ls " + tildeExpand( ServerParam::SERVER_CONF ) + " > /dev/null 2>&1" ).c_str() ) != 0 )
        {
            if( system( "which awk > /dev/null 2>&1" ) == 0 )
            {
                std::cout << "Trying to convert old configuration file '" 
                          << ServerParam::OLD_SERVER_CONF
                          << "'\n";

        char filename[] = "/tmp/rcssserver-oldconf-XXXXXX";
        int fd = mkstemp( filename );
        if( fd != -1 )
        {
            close( fd );
            std::string command = "awk '/^[ \\t]*$/ {} ";
            command += "/^[^#]+[:]/ { gsub(/:/, \"=\" ); $1 = \"server::\" $1; } ";
            command += "/^[ \\t]*[^#:=]+$/ { $1 = \"server::\" $1 \" = true\"; }";
            command += "{ print; }' ";
            command +=  tildeExpand( ServerParam::OLD_SERVER_CONF );
            command += " > ";
            command += filename;
            if( system( command.c_str() ) == 0 )
            {
                std::cout << "Conversion successful\n";
                instance().m_conf_parser->parse( filename );
            }
            else
            {
                std::cout << "Conversion failed\n";
            }
        }
        else
        {
            std::cout << "Conversion failed\n";
        }
    }
        }
    }
#endif // not win32
    if( !instance().m_conf_parser->parseCreateConf( tildeExpand( ServerParam::SERVER_CONF ) ) )
      {
	  std::cerr << "could not create or parse configuration file '" 
		    << tildeExpand( ServerParam::SERVER_CONF )
		    << "'\n";
	  instance().m_builder->displayHelp();
	  instance().clear();
	  exit( EXIT_FAILURE );
      }
    else
      {
	  if( !PlayerParam::init( ServerParam::instance().m_builder.get() ) )
	  {
	      instance().m_builder->displayHelp();
	      instance().clear();
	      exit( EXIT_FAILURE );
	  }
	  if( !instance().m_conf_parser->parse( argc, argv ) )
	  {
	      instance().m_builder->displayHelp();
	      instance().clear();
	      exit( EXIT_FAILURE );
	  }
	if( !instance().timer_loaded )
	    instance().setSynchMode( false );
	if( !instance().timer_loaded )
	{
	    std::cerr << "Could not load timer\n";
	    std::cerr << "timer library not found in '" 
		      << rcss::lib::Loader::getPath() << "'\n";
	    instance().clear();
	    exit( EXIT_FAILURE );
	}

	if( instance().m_builder->genericHelpRequested() )
	{
	    instance().m_builder->displayHelp();
	    instance().clear();
	    exit( EXIT_SUCCESS );
	}
      }
    return true;
}

ServerParam::ServerParam( const std::string& progname )
    : m_builder( new rcss::conf::Builder( progname, "server" ) ),
      m_conf_parser( new rcss::conf::Parser( *m_builder ) ),
      m_err_handler( new rcss::conf::StreamStatusHandler() )
{ 
    m_builder->addHandler( *m_err_handler );
  setDefaults();
  addParams();
  if( !ServerParam::s_in_init )
  {
    std::cerr << "Warning: ServerParam is being used before it has been initialised\n";
  }
}

ServerParam::~ServerParam()
{
    if( m_builder )
	m_builder->removeHandler( *m_err_handler );
}

template< typename P >
void
ServerParam::addParam(  const std::string& name, 
			P& param,
			const std::string& desc,
			int version )
{
    m_builder->addParam( name, param, desc );
    m_ver_map[ name ] = version;
}

template< typename S, typename G >
void
ServerParam::addParam(  const std::string& name, 
			const S& setter,
			const G& getter,
			const std::string& desc,
			int version )
{
    m_builder->addParam( name, setter, getter, desc );
    m_ver_map[ name ] = version;
}

void
ServerParam::addParams()
{
  addParam( "goal_width", gwidth, "The width of the goals", 7 );
  addParam( "player_size", 
            rcss::conf::Builder::makeSetter( this, &ServerParam::setPlayerSize ),
            rcss::conf::Builder::makeGetter( psize ),
            "The size of the default player",
            7 ); 
  addParam( "player_decay", pdecay, "Players speed decay rate", 7 ); 
  addParam( "player_rand", prand, "Player random movement factor", 7 ); 
  addParam( "player_weight", pweight, "The weight of the player", 7 ); 
  addParam( "player_speed_max", pspeed_max, "The max speed of players", 7 ); 
  // th 6.3.00
  addParam( "player_accel_max", paccel_max, "The max acceleration of players", 7 ); 
  //
  addParam( "stamina_max", stamina_max, "The maximum stamina of players", 7 ); 
  addParam( "stamina_inc_max", stamina_inc, "The maximum player stamina increament", 7 ); 
  addParam( "recover_init", recover_init, "The intial recovery value for players", 9 ); 
  addParam( "recover_dec_thr", recover_dthr, "", 7 ); 
  addParam( "recover_min", recover_min, "", 7 ); 
  addParam( "recover_dec", recover_dec, "", 7 ); 
  addParam( "effort_init", effort_init, "", 7 ); 
  addParam( "effort_dec_thr", effort_dthr, "", 7 ); 
  addParam( "effort_min", effort_min, "", 7 ); 
  addParam( "effort_dec", effort_dec, "", 7 );
  addParam( "effort_inc_thr", effort_ithr, "", 7 ); 
  addParam( "effort_inc", effort_inc, "", 7 ); 
  // pfr 8/14/00: for RC2000 evaluation
  addParam( "kick_rand",           kick_rand, "", 7 );
  addParam( "team_actuator_noise", team_actuator_noise, "", 7 ); 
  addParam( "prand_factor_l",      prand_factor_l, "", 7 ); 
  addParam( "prand_factor_r",      prand_factor_r, "", 7 ); 
  addParam( "kick_rand_factor_l",  kick_rand_factor_l, "", 7 ); 
  addParam( "kick_rand_factor_r",  kick_rand_factor_r, "", 7 ); 

  addParam( "ball_size", 
            rcss::conf::Builder::makeSetter( this, &ServerParam::setBallSize ),
            rcss::conf::Builder::makeGetter( bsize ),
            "",
            7 ); 
  addParam( "ball_decay", bdecay, "", 7 ); 
  addParam( "ball_rand", brand, "", 7 ); 
  addParam( "ball_weight", bweight, "", 7 );