serverparam.c

在LINUX下运行的仿真机器人服务器源代码

  addParam( "ball_speed_max", bspeed_max, "", 7 ); 
  // th 6.3.00
  addParam( "ball_accel_max", baccel_max, "", 7 ); 
  //
  addParam( "dash_power_rate", dprate, "", 7 ); 
  addParam( "kick_power_rate", kprate, "", 7); 
  addParam( "kickable_margin",
            rcss::conf::Builder::makeSetter( this, &ServerParam::setKickMargin ), 
            rcss::conf::Builder::makeGetter( kmargin ), 
            "", 
            7 ); 
  addParam( "control_radius", 
            rcss::conf::Builder::makeSetter( this, &ServerParam::setCTLRadius ), 
            rcss::conf::Builder::makeGetter( ctlradius ), 
            "", 
            7 ); 

  addParam( "catch_probability", catch_prob, "", 7 ); 
  addParam( "catchable_area_l",    catch_area_l, "", 7 ); 
  addParam( "catchable_area_w",    catch_area_w, "", 7 ); 
  addParam( "goalie_max_moves",    goalie_max_moves, "", 7 ); 

  addParam( "maxpower", maxp, "", 7 ); 
  addParam( "minpower", minp, "", 7 ); 
  addParam( "maxmoment", maxm, "", 7 ); 
  addParam( "minmoment", minm, "", 7 ); 
  addParam( "maxneckmoment", maxnm, "", 7 ); 
  addParam( "minneckmoment", minnm, "", 7 ); 
  addParam( "maxneckang", maxn, "", 7 );
  addParam( "minneckang", minn, "", 7 ); 
  addParam( "visible_angle", visangle, "", 7 ); 
  addParam( "visible_distance", visdist, "", 7 ); 
  addParam( "audio_cut_dist", audio_dist, "", 7 ); 
  addParam( "quantize_step", dist_qstep, "", 7 );
  addParam( "quantize_step_l", land_qstep, "", 7 ); 
#ifdef NEW_QSTEP
  addParam( "quantize_step_dir", dir_qstep, "", 7 ); 
  addParam( "quantize_step_dist_team_l", dist_qstep_l, "", 7 ); 
  addParam( "quantize_step_dist_team_r", dist_qstep_r, "", 7 ); 
  addParam( "quantize_step_dist_l_team_l", land_qstep_l, "", 7 ); 
  addParam( "quantize_step_dist_l_team_r", land_qstep_r, "", 7 ); 
  addParam( "quantize_step_dir_team_l", dir_qstep_l, "", 7 ); 
  addParam( "quantize_step_dir_team_r", dir_qstep_r, "", 7 ); 
#endif
  addParam( "ckick_margin", ckmargin, "", 7 ); 
  addParam( "wind_dir", windir, "", 7 ); 
  addParam( "wind_force", winforce, "", 7 ); 
  addParam( "wind_ang", winang, "", 7 ); 
  addParam( "wind_rand", winrand, "", 7 ); 
  addParam( "inertia_moment", inertia_moment, "", 7 ); 
  addParam( "wind_none", win_no, "", 7 ); 
  addParam( "wind_random", win_random, "", 7 ); 
  addParam( "half_time", 
            rcss::conf::Builder::makeSetter( this, &ServerParam::setHalfTime ), 
            rcss::conf::Builder::makeGetter( this, &ServerParam::getRawHalfTime ), 
            "", 
            7 ); 
  addParam( "drop_ball_time", drop_time, "", 7 );
  addParam( "port", portnum, "", 8 ); 
  addParam( "coach_port", coach_pnum, "", 8 ); 
  addParam( "olcoach_port", olcoach_pnum, "", 8 ); 
  addParam( "say_coach_cnt_max", say_cnt_max, "", 7 ); 
  addParam( "say_coach_msg_size", SayCoachMsgSize, "", 7 ); 
  addParam( "simulator_step",
            rcss::conf::Builder::makeSetter( this, &ServerParam::setSimStep ), 
            rcss::conf::Builder::makeGetter( this, &ServerParam::getRawSimStep ), 
            "", 
            7 ); 
  addParam( "send_step", 
            rcss::conf::Builder::makeSetter( this, &ServerParam::setSendStep ), 
            rcss::conf::Builder::makeGetter( this, &ServerParam::getRawSendStep ), 
            "", 7 ); 
  addParam( "recv_step", recv_st, "", 7 ); 
  addParam( "sense_body_step",
            rcss::conf::Builder::makeSetter( this, &ServerParam::setSenseBodyStep ), 
            rcss::conf::Builder::makeGetter( this, &ServerParam::getRawSenseBodyStep ), 
            "", 7 ); 
  addParam( "say_msg_size", M_say_msg_size, "", 7 );
  addParam( "clang_win_size",      clang_win_size, "", 7 ); 
  addParam( "clang_define_win",    clang_define_win, "", 7 ); 
  addParam( "clang_meta_win",      clang_meta_win, "", 7 ); 
  addParam( "clang_advice_win",    clang_advice_win, "", 7 ); 
  addParam( "clang_info_win",      clang_info_win, "", 7 ); 
  addParam( "clang_del_win",      M_clang_del_win, "", 8 );
  addParam( "clang_rule_win",      M_clang_rule_win, "", 8 ); 
  addParam( "clang_mess_delay",    clang_mess_delay, "", 7 ); 
  addParam( "clang_mess_per_cycle",      clang_mess_per_cycle, "", 7 ); 
  addParam( "hear_max", M_hear_max, "", 7 ); 
  addParam( "hear_inc", M_hear_inc, "", 7 ); 
  addParam( "hear_decay", M_hear_decay, "", 7 ); 
  addParam( "catch_ban_cycle", cban_cycle, "", 7 ); 
  addParam( "coach", CoachMode, "", 7 ); 
  addParam( "coach_w_referee", CwRMode, "", 7 ); 
  addParam( "old_coach_hear", old_hear, "", 7 ); 
  addParam( "send_vi_step", 
            rcss::conf::Builder::makeSetter( this, &ServerParam::setCoachVisualStep ), 
            rcss::conf::Builder::makeGetter( this, &ServerParam::getRawCoachVisualStep ),
            "", 7 ); 
  addParam( "use_offside", useoffside, "", 7 ); 
  addParam( "offside_active_area_size", offside_area, "", 7 ); 
  addParam( "forbid_kick_off_offside", kickoffoffside, "", 7 ); 
  addParam( "verbose", verbose, "", 8 ); 
  addParam( "offside_kick_margin", offside_kick_margin, "", 7 ); 
  addParam( "slow_down_factor", 
            rcss::conf::Builder::makeSetter( this, &ServerParam::setSlowDownFactor ), 
            rcss::conf::Builder::makeGetter( slow_down_factor ), "", 7 ); 
  addParam( "synch_mode",  
            rcss::conf::Builder::makeSetter( this, &ServerParam::setSynchMode ),
            rcss::conf::Builder::makeGetter( synch_mode ), "", 8 ); //pfr:SYNCH
  addParam( "synch_offset",   
            rcss::conf::Builder::makeSetter( this, &ServerParam::setSynchOffset ), 
            rcss::conf::Builder::makeGetter( this, &ServerParam::getRawSynchOffset ),
            "", 8 ); //pfr:SYNCH
  addParam( "synch_micro_sleep",       synch_micro_sleep, "", 8 ); //pfr:SYNCH

  addParam( "start_goal_l",            start_goal_l, "", 7 ); 
  addParam( "start_goal_r",            start_goal_r, "", 7 ); 

  addParam( "fullstate_l",             fullstate_l, "", 7 ); 
  addParam( "fullstate_r",             fullstate_r, "", 7 ); 
  addParam( "slowness_on_top_for_left_team", slowness_on_top_for_left_team, "", 8 ); 
  addParam( "slowness_on_top_for_right_team", slowness_on_top_for_right_team, "", 8 );
  addParam( "landmark_file",           landmark_file, "", 8 ); 
  addParam( "send_comms", send_comms, "", 8 ); 
  addParam( "text_logging", text_logging, "", 8 ); 
  addParam( "game_logging", game_logging, "", 8 ); 
  addParam( "game_log_version", game_log_version, "", 8 ); 
  addParam( "text_log_dir", text_log_dir, "", 8 ); 
  addParam( "game_log_dir", game_log_dir, "", 8 );
  addParam( "text_log_fixed_name", text_log_fixed_name, "", 8 ); 
  addParam( "game_log_fixed_name", game_log_fixed_name, "", 8 ); 
  addParam( "text_log_fixed", text_log_fixed, "", 8 ); 
  addParam( "game_log_fixed", game_log_fixed, "", 8 ); 
  addParam( "text_log_dated", text_log_dated, "", 8 ); 
  addParam( "game_log_dated", game_log_dated, "", 8 ); 
  addParam( "log_date_format", log_date_format, "", 8 ); 
  addParam( "log_times", log_times, "", 8 ); 
  addParam( "record_messages", record_messages, "", 8 ); 
  addParam( "text_log_compression", text_log_compression, "", 8 ); 
  addParam( "game_log_compression", game_log_compression, "", 8 ); 
  addParam( "profile", M_profile, "", 8 ); 
  addParam( "point_to_ban", M_point_to_ban, "", 8 ); 
  addParam( "point_to_duration", M_point_to_duration, "", 8 ); 

  addParam( "tackle_dist", M_tackle_dist, "", 8 );
  addParam( "tackle_back_dist", M_tackle_back_dist, "", 8 );
  addParam( "tackle_width", M_tackle_width, "", 8 );
  addParam( "tackle_exponent", M_tackle_exponent, "", 8 );
  addParam( "tackle_cycles", M_tackle_cycles, "", 8 );
  addParam( "tackle_power_rate", M_tackle_power_rate, "", 8 );

  addParam( "freeform_wait_period", M_freeform_wait_period, "", 8 );
  addParam( "freeform_send_period", M_freeform_send_period, "", 8 );

  addParam( "free_kick_faults", M_free_kick_faults, "", 8 );
  addParam( "back_passes", M_back_passes, "", 8 );

  addParam( "proper_goal_kicks", M_proper_goal_kicks, "", 8 );
  addParam( "stopped_ball_vel", M_stopped_ball_vel, "", 8 );
  addParam( "max_goal_kicks", M_max_goal_kicks, "", 8 );

  addParam( "auto_mode", M_auto_mode, "", 9 );
  addParam( "kick_off_wait", M_kick_off_wait, "", 9 );
  addParam( "connect_wait", M_connect_wait, "", 9 );
  addParam( "game_over_wait", M_game_over_wait, "", 9 );

  addParam( "team_l_start", M_team_l_start, "", 9 );
  addParam( "team_r_start", M_team_r_start, "", 9 );

  addParam( "keepaway", kaway, "", 9 );
  addParam( "keepaway_length", ka_length, "", 9 );
  addParam( "keepaway_width", ka_width, "", 9 );

  addParam( "keepaway_logging", kaway_logging, "", 9 );
  addParam( "keepaway_log_dir", kaway_log_dir, "", 9 );
  addParam( "keepaway_log_fixed_name", kaway_log_fixed_name, "", 9 );
  addParam( "keepaway_log_fixed", kaway_log_fixed, "", 9 );
  addParam( "keepaway_log_dated", kaway_log_dated, "", 9 );

  addParam( "keepaway_start", kaway_start, "", 9 );
  
  addParam( "nr_normal_halfs", nr_normal_halfs, "Number of normal halfs in a game", 9 );
  addParam( "nr_extra_halfs", nr_extra_halfs, "Number if extra-time periods in a game if it is drawn", 9 );
  addParam( "penalty_shoot_outs", penalty_shoot_outs,
             "Set to true to enable penalty shootouts after normal time and extra time if the game is drawn.\nTo have the game go straight into penalty shoot outs, set this to true and nr_normal_halfs and nr_extra_halfs to 0"
             , 9 );

  addParam( "pen_before_setup_wait", pen_before_setup_wait, "", 9 );
  addParam( "pen_setup_wait",        pen_setup_wait, "", 9 );
  addParam( "pen_ready_wait",        pen_ready_wait, "", 9 );
  addParam( "pen_taken_wait",        pen_taken_wait, "", 9 );
  addParam( "pen_nr_kicks",          pen_nr_kicks, "", 9 );
  addParam( "pen_max_extra_kicks",   pen_max_extra_kicks, "", 9 );
  addParam( "pen_dist_x"         ,   pen_dist_x         , "", 9 );
  addParam( "pen_random_winner",     pen_random_winner, "", 9 );
  addParam( "pen_max_goalie_dist_x", pen_max_goalie_dist_x, "", 9 );
  addParam( "pen_allow_mult_kicks",  pen_allow_mult_kicks,
             "Turn on to allow dribbling in penalty shootouts", 9 );
  addParam( "pen_coach_moves_players", pen_coach_moves_players, 
             "Turn on to have the server automatically position players for peanlty shootouts", 9 );

}


    void
    ServerParam::setSynchMode( bool value )
    {
        if( synch_mode != value || !timer_loaded )
        {
	    if( value )
	    {
		rcss::lib::Loader module;
		if( module.open( "librcsssynctimer" ) )
		{
                    m_builder->manageModule( module );
		    timer_loaded = true;
                }
		else
		{
		    std::cerr << "Could not load synctimer" << std::endl;
		}
	    }
	    else
	    {
		rcss::lib::Loader module; 
		if( module.open( "librcssstdtimer" ) )
		{
                    m_builder->manageModule( module );
		    timer_loaded = true;
                }
		else
		{
		    std::cerr << "Could not load stdtimer" << std::endl;
		}
	    }
	    synch_mode = value ;
	    lcm_st = lcm( sim_st, 
			  lcm( send_st, 
			       lcm( recv_st, 
				    lcm( sb_step,
					 lcm( sv_st,
					      ( synch_mode ? synch_offset : 1 ) ) ) ) ) );        
	}
    }


    void
    ServerParam::clear()
    {
	m_conf_parser.reset();
	m_builder.reset();
    }

void
ServerParam::setDefaults()
{
  /* set default parameter */
  gwidth = GOAL_WIDTH ;
  psize = PLAYER_SIZE ;
  pdecay = PLAYER_DECAY ;
  prand = PLAYER_RAND ;
  pweight = PLAYER_WEIGHT ;
  stamina_max = STAMINA_MAX ;
  stamina_inc = STAMINA_INC_MAX ;
  recover_init = 1.0 ;
  recover_dthr = RECOVERY_DEC_THR ;
  recover_min = RECOVERY_MIN ;
  recover_dec = RECOVERY_DEC ;
  effort_init = 1.0 ;
  effort_dthr = EFFORT_DEC_THR ;
  effort_min = EFFORT_MIN ;
  effort_dec = EFFORT_DEC ;
  effort_ithr = EFFORT_INC_THR ;
  effort_inc= EFFORT_INC ;
  inertia_moment = IMPARAM ;
  // pfr 8/14/00: for RC2000 evaluation
  kick_rand = KICK_RAND;
  team_actuator_noise = FALSE;
  prand_factor_l = PRAND_FACTOR_L;
  prand_factor_r = PRAND_FACTOR_R;
  kick_rand_factor_l = KICK_RAND_FACTOR_L;
  kick_rand_factor_r = KICK_RAND_FACTOR_R;

  bsize = BALL_SIZE ;
  bdecay = BALL_DECAY ;
  brand = BALL_RAND ;
  bweight = BALL_WEIGHT ;
  bspeed_max = BALL_SPEED_MAX ;
  pspeed_max = PLAYER_SPEED_MAX ;
  // th 6.3.00
  baccel_max = BALL_ACCEL_MAX ;
  paccel_max = PLAYER_ACCEL_MAX ;
  //
  dprate = DASHPOWERRATE ;
  kprate = KICKPOWERRATE ;
  kmargin = KICKABLE_MARGIN ;
  ctlradius = CONTROL_RADIUS ;
  ckmargin = CORNER_KICK_MARGIN ;
  catch_prob = GOALIE_CATCHABLE_POSSIBILITY ;
  catch_area_l = GOALIE_CATCHABLE_AREA_LENGTH ; 
  catch_area_w = GOALIE_CATCHABLE_AREA_WIDTH ;
  goalie_max_moves = GOALIE_MAX_MOVES;
  maxp = MAXPOWER ;
  minp = MINPOWER ;
  maxm = MAXMOMENT ;
  minm = MINMOMENT ;
  maxnm = MAX_NECK_MOMENT ;
  minnm = MIN_NECK_MOMENT ;
  maxn = MAX_NECK_ANGLE ;
  minn = MIN_NECK_ANGLE ;
  visangle = VisibleAngle ;
  visdist = VisibleDistance ;
  drop_time = DROP_TIME ;
  portnum = DEFAULT_PORT_NUMBER ;
  coach_pnum = COACH_PORT_NUMBER ;
  olcoach_pnum = OLCOACH_PORT_NUMBER ;
  say_cnt_max = DEF_SAY_COACH_CNT_MAX ;
  SayCoachMsgSize = DEF_SAY_COACH_MSG_SIZE ;
  sim_st = SIMULATOR_STEP_INTERVAL_MSEC ;
  send_st = UDP_SEND_STEP_INTERVAL_MSEC ;
  recv_st = UDP_RECV_STEP_INTERVAL_MSEC ;
  sb_step = SENSE_BODY_INTERVAL_MSEC ;
  clang_win_size = 300;
  clang_define_win = 1;
  clang_meta_win = 1;
  clang_advice_win = 1;
  clang_info_win = 1;
  M_clang_del_win = CLANG_DEL_WIN;
  M_clang_rule_win = CLANG_RULE_WIN;
  clang_mess_delay = 50;
  clang_mess_per_cycle = 1;
  CoachMode = FALSE ;
  CwRMode = FALSE ;
  old_hear = FALSE ;
  sv_st = SEND_VISUALINFO_INTERVAL_MSEC ;
  audio_dist = AUDIO_CUT_OFF_DIST ;
  cban_cycle = GOALIE_CATCH_BAN_CYCLE ;
  slow_down_factor = 1;
  verbose = FALSE ;

  dist_qstep = DIST_QSTEP ;
  land_qstep = LAND_QSTEP ;
#ifdef NEW_QSTEP
  dir_qstep  = DIR_QSTEP ;
#endif

  windir = WIND_DIR ;
  winforce = WIND_FORCE ;
  winrand = WIND_RAND ;
  win_no = FALSE ;
  win_random = FALSE ;
  useoffside = TRUE ;
  offside_area = OFFSIDE_ACTIVE_AREA_SIZE ;
  kickoffoffside = TRUE; 
  offside_kick_margin = OFFSIDE_KICK_MARGIN ;

  kaway = FALSE ;
  ka_length = KEEPAWAY_LENGTH ;
  ka_width = KEEPAWAY_WIDTH ;

  nr_normal_halfs = NR_NORMAL_HALFS;
  nr_extra_halfs = NR_EXTRA_HALFS;
  penalty_shoot_outs = PENALTY_SHOOT_OUTS;

  pen_before_setup_wait = PEN_BEFORE_SETUP_WAIT;
  pen_setup_wait        = PEN_SETUP_WAIT;
  pen_ready_wait        = PEN_READY_WAIT;
  pen_taken_wait        = PEN_TAKEN_WAIT;
  pen_nr_kicks          = PEN_NR_KICKS;
  pen_max_extra_kicks   = PEN_MAX_EXTRA_KICKS;
  pen_dist_x            = PEN_DIST_X;
  pen_random_winner     = PEN_RANDOM_WINNER;
  pen_max_goalie_dist_x = PEN_MAX_GOALIE_DIST_X;
  pen_allow_mult_kicks  = PEN_ALLOW_MULT_KICKS;
  pen_coach_moves_players = PEN_COACH_MOVES_PLAYERS;