serverparam.c

在LINUX下运行的仿真机器人服务器源代码

  
  timer_loaded = false;

  synch_offset = 60;
  synch_micro_sleep = 1;

  start_goal_l = 0;
  start_goal_r = 0;

  fullstate_l = FALSE;
  fullstate_r = FALSE;


#ifdef NEW_QSTEP
  bool defined_qstep_l = false;
  bool defined_qstep_r = false;
  bool defined_qstep_l_l = false;
  bool defined_qstep_l_r = false;
  bool defined_qstep_dir_l = false;
  bool defined_qstep_dir_r = false;
#endif

  slowness_on_top_for_left_team = 1.0;
  slowness_on_top_for_right_team = 1.0;

  landmark_file = ServerParam::LANDMARK_FILE;


  send_comms = ServerParam::SEND_COMMS;
  text_logging = ServerParam::TEXT_LOGGING;
  game_logging = ServerParam::GAME_LOGGING;
  game_log_version = ServerParam::GAME_LOG_VERSION;
  text_log_dir = ServerParam::TEXT_LOG_DIR;
  game_log_dir = ServerParam::GAME_LOG_DIR;
  text_log_fixed_name = ServerParam::TEXT_LOG_FIXED_NAME;
  game_log_fixed_name = ServerParam::GAME_LOG_FIXED_NAME;
  text_log_fixed = ServerParam::TEXT_LOG_FIXED;
  game_log_fixed = ServerParam::GAME_LOG_FIXED;
  text_log_dated = ServerParam::TEXT_LOG_DATED;
  game_log_dated = ServerParam::GAME_LOG_DATED;
  log_date_format = ServerParam::LOG_DATE_FORMAT;
  log_times = ServerParam::LOG_TIMES;
  record_messages = ServerParam::RECORD_MESSAGES;
  text_log_compression = ServerParam::TEXT_LOG_COMPRESSION;
  game_log_compression = ServerParam::GAME_LOG_COMPRESSION;
  M_profile = ServerParam::PROFILE;

  kaway_logging = ServerParam::KAWAY_LOGGING;
  kaway_log_dir = ServerParam::KAWAY_LOG_DIR;
  kaway_log_fixed_name = ServerParam::KAWAY_LOG_FIXED_NAME;
  kaway_log_fixed = ServerParam::KAWAY_LOG_FIXED;
  kaway_log_dated = ServerParam::KAWAY_LOG_DATED;

  kaway_start = ServerParam::KAWAY_START;
  
  M_point_to_ban = ServerParam::POINT_TO_BAN;
  M_point_to_duration = ServerParam::POINT_TO_DURATION;
  M_say_msg_size = ServerParam::SAY_MSG_SIZE ;
  M_hear_max = ServerParam::HEAR_MAX ;
  M_hear_inc = ServerParam::HEAR_INC ;
  M_hear_decay = ServerParam::HEAR_DECAY ;

  M_tackle_dist = TACKLE_DIST;
  M_tackle_back_dist = TACKLE_BACK_DIST;
  M_tackle_width = TACKLE_WIDTH;
  M_tackle_exponent = TACKLE_EXPONENT;
  M_tackle_cycles = TACKLE_CYCLES;
  M_tackle_power_rate = TACKLE_POWER_RATE;

  M_freeform_wait_period = FREEFORM_WAIT_PERIOD;
  M_freeform_send_period = FREEFORM_SEND_PERIOD;

  M_free_kick_faults = FREE_KICK_FAULTS;
  M_back_passes = BACK_PASSES;

  M_proper_goal_kicks = PROPER_GOAL_KICKS;
  M_stopped_ball_vel = STOPPED_BALL_VEL;
  M_max_goal_kicks = MAX_GOAL_KICKS;

  M_auto_mode = S_AUTO_MODE;
  M_kick_off_wait = S_KICK_OFF_WAIT;
  M_connect_wait = S_CONNECT_WAIT;
  M_game_over_wait = S_GAME_OVER_WAIT;

  M_team_l_start = S_TEAM_L_START;
  M_team_r_start = S_TEAM_R_START;

  setHalfTime( HALF_TIME );
  rcss::lib::Loader::setPath( S_MODULE_DIR );
}






server_params_t ServerParam::convertToStruct ()
{
  server_params_t tmp;

  tmp.gwidth = htonl( (long)(SHOWINFO_SCALE2 * gwidth) );
  tmp.inertia_moment = htonl( (long)(SHOWINFO_SCALE2 * inertia_moment) );
  tmp.psize = htonl( (long)(SHOWINFO_SCALE2 * psize) );
  tmp.pdecay = htonl( (long)(SHOWINFO_SCALE2 * pdecay) );
  tmp.prand = htonl( (long)(SHOWINFO_SCALE2 * prand) );
  tmp.pweight = htonl( (long)(SHOWINFO_SCALE2 * pweight) );
  tmp.pspeed_max = htonl( (long)(SHOWINFO_SCALE2 * pspeed_max) );
  tmp.paccel_max = htonl( (long)(SHOWINFO_SCALE2 * paccel_max) );
  tmp.stamina_max = htonl( (long)(SHOWINFO_SCALE2 * stamina_max) );
  tmp.stamina_inc = htonl( (long)(SHOWINFO_SCALE2 * stamina_inc) );
  tmp.recover_init = htonl( (long)(SHOWINFO_SCALE2 * recover_init) );
  tmp.recover_dthr = htonl( (long)(SHOWINFO_SCALE2 * recover_dthr) );
  tmp.recover_min = htonl( (long)(SHOWINFO_SCALE2 * recover_min) );
  tmp.recover_dec = htonl( (long)(SHOWINFO_SCALE2 * recover_dec) );
  tmp.effort_init = htonl( (long)(SHOWINFO_SCALE2 * effort_init) );
  tmp.effort_dthr = htonl( (long)(SHOWINFO_SCALE2 * effort_dthr) );
  tmp.effort_min = htonl( (long)(SHOWINFO_SCALE2 * effort_min) );
  tmp.effort_dec = htonl( (long)(SHOWINFO_SCALE2 * effort_dec) );
  tmp.effort_ithr = htonl( (long)(SHOWINFO_SCALE2 * effort_ithr) );
  tmp.effort_inc = htonl( (long)(SHOWINFO_SCALE2 * effort_inc) );
  tmp.kick_rand = htonl( (long)(SHOWINFO_SCALE2 * kick_rand) );                                
  tmp.team_actuator_noise = htons( (short) team_actuator_noise );                        
  tmp.prand_factor_l = htonl( (long)(SHOWINFO_SCALE2 * prand_factor_l ) );                           
  tmp.prand_factor_r = htonl( (long)(SHOWINFO_SCALE2 * prand_factor_r ) );                           
  tmp.kick_rand_factor_l = htonl( (long)(SHOWINFO_SCALE2 * kick_rand_factor_l ) );
  tmp.kick_rand_factor_r = htonl( (long)(SHOWINFO_SCALE2 * kick_rand_factor_r ) );                       
  tmp.bsize = htonl( (long)(SHOWINFO_SCALE2 * bsize) );
  tmp.bdecay = htonl( (long)(SHOWINFO_SCALE2 * bdecay) );
  tmp.brand = htonl( (long)(SHOWINFO_SCALE2 * brand) );
  tmp.bweight = htonl( (long)(SHOWINFO_SCALE2 * bweight) );
  tmp.bspeed_max = htonl( (long)(SHOWINFO_SCALE2 * bspeed_max) );
  tmp.baccel_max = htonl( (long)(SHOWINFO_SCALE2 * baccel_max ) );
  tmp.dprate = htonl( (long)(SHOWINFO_SCALE2 * dprate) );
  tmp.kprate = htonl( (long)(SHOWINFO_SCALE2 * kprate) );
  tmp.kmargin = htonl( (long)(SHOWINFO_SCALE2 * kmargin) );
  tmp.ctlradius = htonl( (long)(SHOWINFO_SCALE2 * ctlradius) );
  tmp.ctlradius_width = htonl( (long)(SHOWINFO_SCALE2 * ctlradius_width) );
  tmp.maxp = htonl( (long)(SHOWINFO_SCALE2 * maxp) );
  tmp.minp = htonl( (long)(SHOWINFO_SCALE2 * minp) );
  tmp.maxm = htonl( (long)(SHOWINFO_SCALE2 * maxm) );
  tmp.minm = htonl( (long)(SHOWINFO_SCALE2 * minm) );
  tmp.maxnm = htonl( (long)(SHOWINFO_SCALE2 * maxnm) );
  tmp.minnm = htonl( (long)(SHOWINFO_SCALE2 * minnm) );
  tmp.maxn = htonl( (long)(SHOWINFO_SCALE2 * maxn) );
  tmp.minn = htonl( (long)(SHOWINFO_SCALE2 * minn) );
  tmp.visangle = htonl( (long)(SHOWINFO_SCALE2 * visangle) );
  tmp.visdist = htonl( (long)(SHOWINFO_SCALE2 * visdist) );
  tmp.windir = htonl( (long)(SHOWINFO_SCALE2 * windir) );
  tmp.winforce = htonl( (long)(SHOWINFO_SCALE2 * winforce) );
  tmp.winang = htonl( (long)(SHOWINFO_SCALE2 * winang) );
  tmp.winrand = htonl( (long)(SHOWINFO_SCALE2 * winrand) );
  tmp.kickable_area = htonl( (long)(SHOWINFO_SCALE2 * kickable_area) );
  tmp.catch_area_l = htonl( (long)(SHOWINFO_SCALE2 * catch_area_l) );
  tmp.catch_area_w = htonl( (long)(SHOWINFO_SCALE2 * catch_area_w) );
  tmp.catch_prob = htonl( (long)(SHOWINFO_SCALE2 * catch_prob) );
  tmp.goalie_max_moves = htons( (short) goalie_max_moves );                 
  tmp.ckmargin = htonl( (long)(SHOWINFO_SCALE2 * ckmargin) );
  tmp.offside_area = htonl( (long)(SHOWINFO_SCALE2 * offside_area) );
  tmp.win_no = htons( (short) win_no);
  tmp.win_random = htons( (short) win_random) ;
  tmp.say_cnt_max = htons( (short) say_cnt_max) ;
  tmp.SayCoachMsgSize = htons( (short) SayCoachMsgSize) ;
  tmp.clang_win_size = htons( (short) clang_win_size );
  tmp.clang_define_win = htons( (short) clang_define_win );
  tmp.clang_meta_win = htons( (short) clang_meta_win );
  tmp.clang_advice_win = htons( (short) clang_advice_win );
  tmp.clang_info_win = htons( (short) clang_info_win );
  tmp.clang_mess_delay = htons( (short) clang_mess_delay );
  tmp.clang_mess_per_cycle = htons( (short) clang_mess_per_cycle );
  tmp.half_time = htons( (short) half_time) ;
  tmp.sim_st = htons( (short) sim_st) ;
  tmp.send_st = htons( (short) send_st) ;
  tmp.recv_st = htons( (short) recv_st) ;
  tmp.sb_step = htons( (short) sb_step) ;
  tmp.lcm_st = htons( (short) lcm_st) ;                        
  tmp.M_say_msg_size = htons( (short) M_say_msg_size) ;
  tmp.M_hear_max = htons( (short) M_hear_max) ;
  tmp.M_hear_inc = htons( (short) M_hear_inc) ;
  tmp.M_hear_decay = htons( (short) M_hear_decay) ;
  tmp.cban_cycle = htons( (short) cban_cycle) ;
  tmp.slow_down_factor = htons( (short) slow_down_factor) ;                          
  tmp.useoffside = htons( (short) useoffside) ;
  tmp.kickoffoffside = htons( (short) kickoffoffside) ;
  tmp.offside_kick_margin = htonl( (long)(SHOWINFO_SCALE2 * offside_kick_margin) );
  tmp.audio_dist = htonl( (long)(SHOWINFO_SCALE2 * audio_dist) );
  tmp.dist_qstep = htonl( (long)(SHOWINFO_SCALE2 * dist_qstep) );
  tmp.land_qstep = htonl( (long)(SHOWINFO_SCALE2 * land_qstep) );
#ifdef NEW_QSTEP
  tmp.dir_qstep = htonl( (long)(SHOWINFO_SCALE2 * dir_qstep) );
  tmp.dist_qstep_l = htonl( (long)(SHOWINFO_SCALE2 * dist_qstep_l) );
  tmp.dist_qstep_r = htonl( (long)(SHOWINFO_SCALE2 * dist_qstep_r) );
  tmp.land_qstep_l = htonl( (long)(SHOWINFO_SCALE2 * land_qstep_l) );
  tmp.land_qstep_r = htonl( (long)(SHOWINFO_SCALE2 * land_qstep_r) );
  tmp.dir_qstep_l = htonl( (long)(SHOWINFO_SCALE2 * dir_qstep_l) );
  tmp.dir_qstep_r = htonl( (long)(SHOWINFO_SCALE2 * dir_qstep_r) );
#else
  tmp.dir_qstep = htonl( (long)(SHOWINFO_SCALE2 * -1) );
  tmp.dist_qstep_l = htonl( (long)(SHOWINFO_SCALE2 * -1) );
  tmp.dist_qstep_r = htonl( (long)(SHOWINFO_SCALE2 * -1) );
  tmp.land_qstep_l = htonl( (long)(SHOWINFO_SCALE2 * -1) );
  tmp.land_qstep_r = htonl( (long)(SHOWINFO_SCALE2 * -1) );
  tmp.dir_qstep_l = htonl( (long)(SHOWINFO_SCALE2 * -1) );
  tmp.dir_qstep_r = htonl( (long)(SHOWINFO_SCALE2 * -1) );
#endif    
  tmp.CoachMode = htons( (short) CoachMode) ;
  tmp.CwRMode = htons( (short) CwRMode) ;
  tmp.old_hear = htons( (short) old_hear) ;
  tmp.sv_st = htons( (short) sv_st) ;

  tmp.synch_mode   = htons( (short)synch_mode);//pfr:SYNCH
  tmp.synch_offset = htons( (short)synch_offset);//pfr:SYNCH
  tmp.synch_micro_sleep = htons( (short)synch_micro_sleep);//pfr:SYNCH

  tmp.start_goal_l = htons( (short)start_goal_l );
  tmp.start_goal_r = htons( (short)start_goal_r );

  tmp.fullstate_l = htons( (short)fullstate_l );
  tmp.fullstate_r = htons( (short)fullstate_r );

  tmp.drop_time = htons( (short) drop_time) ;

  tmp.slowness_on_top_for_left_team = htonl( (long)(SHOWINFO_SCALE2 * slowness_on_top_for_left_team) );
  tmp.slowness_on_top_for_right_team = htonl( (long)(SHOWINFO_SCALE2 * slowness_on_top_for_left_team) );

  tmp.ka_length = htonl( (long)(SHOWINFO_SCALE2 * ka_length) );
  tmp.ka_width = htonl( (long)(SHOWINFO_SCALE2 * ka_width) );

  tmp.point_to_ban =  htons( (short)M_point_to_ban );
  tmp.point_to_duration =  htons( (short)M_point_to_duration );

  return tmp;
}

bool
ServerParam::getInt( const std::string& param, int& value ) const
{
    return m_builder->get( param, value ); 
}

bool
ServerParam::getBool( const std::string& param, bool& value ) const
{ return m_builder->get( param, value ); }

bool
ServerParam::getDoub( const std::string& param, double& value ) const
{ return m_builder->get( param, value ); }

bool
ServerParam::getStr( const std::string& param, std::string& value ) const
{ return m_builder->get( param, value ); }



std::ostream& toStr ( std::ostream& o, const ServerParamSensor_v7::data_t& data )
{
  return o << "(server_param "
           << data.M_gwidth << " "
           << data.M_inertia_moment << " "
           << data.M_psize << " "
           << data.M_pdecay << " "
           << data.M_prand << " "
           << data.M_pweight << " "
           << data.M_pspeed_max << " "
           << data.M_paccel_max << " "
           << data.M_stamina_max << " "
           << data.M_stamina_inc << " "
           << data.M_recover_init << " "
           << data.M_recover_dthr << " "
           << data.M_recover_min << " "
           << data.M_recover_dec << " "
           << data.M_effort_init << " "
           << data.M_effort_dthr << " "
           << data.M_effort_min << " "
           << data.M_effort_dec << " "
           << data.M_effort_ithr << " "
           << data.M_effort_inc << " "
           << data.M_kick_rand << " "
           << data.M_team_actuator_noise << " "
           << data.M_prand_factor_l << " "
           << data.M_prand_factor_r << " "
           << data.M_kick_rand_factor_l << " "
           << data.M_kick_rand_factor_r << " "
           << data.M_bsize << " "
           << data.M_bdecay << " " 
           << data.M_brand << " " 
           << data.M_bweight << " " 
           << data.M_bspeed_max << " " 
           << data.M_baccel_max << " "
           << data.M_dprate << " " 
           << data.M_kprate << " " 
           << data.M_kmargin << " " 
           << data.M_ctlradius << " " 
           << data.M_ctlradius_width << " " 
           << data.M_maxp << " "
           << data.M_minp << " " 
           << data.M_maxm << " " 
           << data.M_minm << " " 
           << data.M_maxnm << " " 
           << data.M_minnm << " " 
           << data.M_maxn << " " 
           << data.M_minn << " " 
           << data.M_visangle << " " 
           << data.M_visdist << " " 
           << data.M_windir << " "
           << data.M_winforce << " " 
           << data.M_winang << " " 
           << data.M_winrand << " " 
           << data.M_kickable_area << " " 
           << data.M_catch_area_l << " " 
           << data.M_catch_area_w << " " 
           << data.M_catch_prob << " " 
           << data.M_goalie_max_moves << " "                  
           << data.M_ckmargin << " " 
           << data.M_offside_area << " " 
           << data.M_win_no << " " 
           << data.M_win_random << " " 
           << data.M_say_cnt_max << " " 
           << data.M_SayCoachMsgSize << " " 
           << data.M_clang_win_size << " "
           << data.M_clang_define_win << " "
           << data.M_clang_meta_win << " "
           << data.M_clang_advice_win << " "
           << data.M_clang_info_win << " "
           << data.M_clang_mess_delay << " "
           << data.M_clang_mess_per_cycle << " "
           << data.M_half_time << " " 
           << data.M_sim_st << " " 
           << data.M_send_st << " " 
           << data.M_recv_st << " " 
           << data.M_sb_step << " " 
           << data.M_lcm_st << " "                         
           << data.M_say_msg_size << " " 
           << data.M_hear_max << " " 
           << data.M_hear_inc << " " 
           << data.M_hear_decay << " " 
           << data.M_cban_cycle << " " 
           << data.M_slow_down_factor << " "                           
           << data.M_useoffside << " " 
           << data.M_kickoffoffside << " "
           << data.M_offside_kick_margin << " " 
           << data.M_audio_dist << " " 
           << data.M_dist_qstep << " " 
           << data.M_land_qstep << " " 
           << data.M_dir_qstep << " " 
           << data.M_dist_qstep_l << " " 
           << data.M_dist_qstep_r << " " 
           << data.M_land_qstep_l << " " 
           << data.M_land_qstep_r << " " 
           << data.M_dir_qstep_l << " " 
           << data.M_dir_qstep_r << " "
           << data.M_CoachMode << " " 
           << data.M_CwRMode << " " 
           << data.M_old_hear << " " 
           << data.M_sv_st << " "
           << data.M_start_goal_l << " "
           << data.M_start_goal_r << " "
           << data.M_fullstate_l << " "
           << data.M_fullstate_r << " "
           << data.M_drop_time << ")";
}


std::ostream& toStr ( std::ostream& o, const ServerParamSensor_v8::data_t& data )
{
    
  o << "(server_param ";
  std::for_each( data.m_sp.verMap().begin(), data.m_sp.verMap().end(), ServerParam::Printer( o, 8 ) );
  o << ")";

  return o;
}