basiccoach.cpp

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program 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 Library General Public License for more details.
 *
 *  This file is created by: Mohammad Salehe
 *  and is modified by: Darioush Jalali
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#include <assert.h>
#include <iostream>
#include <sstream>
#include <fstream>

#include "Config.h"
#include "Logger.h"
#include "BasicCoach.h"
#include "SExpression.h"
#include "SignalHandler.h"
#include "OnlineConnection.h"
#include "VirtualConnection.h"
#include "SampleScenario.h"

using namespace std;

BasicCoach::BasicCoach(int argc, char **argv)
{

	setConfigDefaults();
	config["Agent"].setByFile("./Configs/Coach.conf");
	if (!config["Agent"].setByArguments(argc, argv))
		exit(1);

	worldModel = new CoachWorldModel();
	isTrainer = config["Agent"]["Public"]["IsTrainer"].asBool();
	freeFormCycleCommand = NULL;
	changePlayerCycleCommand = NULL;
	sigAlarmCounter = 0;
	trainer = NULL;
}

BasicCoach::~BasicCoach()
{
	delete worldModel;
}

void BasicCoach::run()
{

	if (config["Agent"]["Server"]["OfflinePlayer"].asBool())
	{
/*		initVirtualConnection();
		offlinePlayerManager();
		closeVirtualConnection();*/
	}
	else
	{
		SignalHandler::initSignalHandlers(this);
		initOnlineConnection();
	
		if (isTrainer) {
			trainer = new SampleScenario(worldModel, &worldModelHistory, connection);
		} else {
			trainer = NULL;
		}
		
		SignalHandler::run();
		SignalHandler::finalSignalHandlers();
		closeOnlineConnection();
	}
}

void BasicCoach::ok (const SExpression &exp) {
	LOG << "OK header received from server" << endl;
	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;	
	SExpAtomic *at =NULL;
	if (exp.size() > 1) {
		at = dynamic_cast<SExpAtomic *>(exp[1]);
		assert(at);
		string type = at->asString();
		if (type == "team_names")
			okTeamNames(exp);
		else
			LOG << "Skipping _ok_ message with unknown header" << endl;
	}
};

void BasicCoach::okTeamNames (const SExpression &exp) {
	SExpression *expr =NULL;
	SExpAtomic  *at   =NULL;
	if (exp.size() > 2) {
		LOG << "Left Team exists" << endl;
		expr = dynamic_cast<SExpression * >(exp[2]); assert(expr);
		at   = dynamic_cast<SExpAtomic *  >((*expr)[0]); assert(at);		
		assert(at->asString() == "team");
		at   = dynamic_cast<SExpAtomic *  >((*expr)[1]); assert(at);
		assert(at->asString() == "l");
		at   = dynamic_cast<SExpAtomic *  >((*expr)[2]); assert(at);
		LOG << "Setting left team name " << at->asString() << endl;
		worldModel->setLeftTeam(at->asString());
	}
	if (exp.size() > 3) {
		LOG << "Right team exists" << endl;
		expr = dynamic_cast<SExpression * >(exp[3]); assert(expr);
		at   = dynamic_cast<SExpAtomic *  >((*expr)[0]); assert(at);		
		assert(at->asString() == "team");
		at   = dynamic_cast<SExpAtomic *  >((*expr)[1]); assert(at);
		assert(at->asString() == "r");		
		at   = dynamic_cast<SExpAtomic *  >((*expr)[2]); assert(at);
		LOG << "Setting right team name " << at->asString() << endl;
		worldModel->setRightTeam(at->asString());		
	}
};

void BasicCoach::seeGlobal(const SExpression &exp)
{
	unsigned curCycle;
	SExpAtomic *at;

//	logEndInf();

	at = dynamic_cast<SExpAtomic *>(exp[1]);
	assert(at);
	curCycle = at->asInt();

	worldModel->setTimer().resetCycle(curCycle);

	LOG.newCycle();
	DRAW.newCycle();
	if (!(curCycle % 20)) {
		// every twenty cycles we check again for new teams
		updateTeamNames();
	}
	
	LOG << "RecStr: " << exp.toString() << endl;
//	OFFLOG << "RecStr: " << exp.toString() << endl;

	worldModel->setCurTime(worldModel->getCurTime() + 1);
	worldModel->resetObjects();
	worldModel->parseSeeGlobal(exp);
	
//	checkForLosts();

	worldModel->setCurCycle(curCycle);
//	worldModel->updateSeeDeltaCyclesAfterSenseBody();
	worldModel->updatePlayModeRemainCycleAfterSenseBody();

	worldModel->logObjects();
	worldModelHistory.saveWorldModel(worldModel, worldModel->getCurTime());
//	//TODO
}

void BasicCoach::hear(const SExpression &exp)
{
	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;

	worldModel->parseHear(exp);
}

void BasicCoach::fullState(const SExpression &exp)
{
	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;
}

void BasicCoach::serverParam(const SExpression &exp)
{
	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;

	worldModel->initServerParam(exp);
}

void BasicCoach::playerParam(const SExpression &exp)
{
	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;

	worldModel->initPlayerParam(exp);
}

void BasicCoach::playerType(const SExpression &exp)
{
	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;

	worldModel->initPlayerType(exp);
	
	LOG << "Sending Eye On" << endl;
	Command *eye = new EyeCommand(AT_BASIC_COACH, true);
	connection->send(eye);
	delete eye;

}

void BasicCoach::init(const SExpression &exp)
{
	string logFileName, offLogFileName;
	SExpAtomic *at;

	at = dynamic_cast<SExpAtomic *>(exp[0]);
	assert(at);
	assert(at->toString() == "init");

	if (isTrainer)
		worldModel->setFieldSide(SI_LEFT);
	else {
		at = dynamic_cast<SExpAtomic *>(exp[1]);
		assert(at);
		if (at->toString()[0] == 'l')
			worldModel->setFieldSide(SI_LEFT);
		else
		{
			assert(at->toString()[0] == 'r');
			worldModel->setFieldSide(SI_RIGHT);
		}
	}
	
	// Initing log file
	if ((config["Agent"]["AgentLog"]
			   ["OutputLogAddress"].asString().end() - 1)[0] != '/')
		logFileName = "/";
	else
		logFileName = "";
	logFileName += config["Agent"]["Public"]["TeamName"].asString();

	logFileName += (char)('C');

	logFileName += ".log";
	if (config["Agent"]["AgentLog"]["LogToFile"].asBool())
		logger.add("MainLog", new LogFile(
				config["Agent"]["AgentLog"]
					  ["OutputLogAddress"].asString() + logFileName,
				&worldModel->getTimer()));
	else
		logger.add("MainLog", new LogNull());

	offLogFileName = logFileName + ".off";
	if (config["Agent"]["AgentLog"]["OffLogToFile"].asBool())
		logger.add("OfflineLog", new LogFile(
				config["Agent"]["AgentLog"]
					  ["OutputLogAddress"].asString() + offLogFileName,
				&worldModel->getTimer()));
	else
		logger.add("OfflineLog", new LogNull());

	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;

	cout << "Coach is connected." << endl;
	if (logger["MainLog"].isOutValid())
		cout << "    Log: " << config["Agent"]["AgentLog"]
			["OutputLogAddress"].asString() + logFileName << endl;
	if (logger["OfflineLog"].isOutValid())
		cout << "    OffLog: " << config["Agent"]["AgentLog"]
			["OutputLogAddress"].asString() + offLogFileName << endl;
	/// filling the team names
	if (isTrainer) {
			LOG << "[t0] Requesting team names from server" << endl;
			updateTeamNames();
	}
}

void BasicCoach::updateTeamNames() {
	if ((worldModel->getLeftTeam() =="NULL" )|| (worldModel->getRightTeam() =="NULL" )) {
		LOG << "Null team names exist, checking.." <<endl;
		Command * command = new TeamNamesCommand(AT_BASIC_COACH);
		connection->send(command);
		delete command;
	} else {
		LOG << "Team names are OK, not checking.. (" << worldModel->getLeftTeam() <<
			") (" << worldModel->getRightTeam() << ")" <<endl;
	}
};
		
		

void BasicCoach::think(const SExpression &exp)
{
	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;
}

void BasicCoach::changePlayerType(const SExpression &exp)
{
	LOG << "RecStr: " << exp.toString() << endl;
	OFFLOG << "RecStr: " << exp.toString() << endl;

	worldModel->parseChangePlayerType(exp);
}

bool BasicCoach::sigAlrmHandler()
{
/*	sigAlarmCounter++;

	if (sigAlarmCounter == 200)
	{
		Command *eye = new EyeCommand(AT_BASIC_COACH, true);
		connection->send(eye);
		delete eye;
	} else if (sigAlarmCounter == 250) {
	}	
*/
	return synchronize();
}

bool BasicCoach::sigIntHandler()
{
	LOG << "Interrupt Handler." << endl;
	cout << "Interrupt Handler." << endl;
	return false;
}

bool BasicCoach::sigIOHandler()
{
	string message;
	while (connection->receive(message) == 1)
	{
		curReceiveMS = worldModel->getTimer().now();
		//std::cout << "SCRREC : " << message << std::endl;
		
		unsigned i = 0;
		SExpression exp(message, i);
//		assert(i + 1 == message.length());
		string header = ((SExpAtomic *)exp[0])->asString();

		if (header == "see_global")
			seeGlobal(exp);
		else if (header == "hear")
			hear(exp);
		else if (header == "fullstate")
			fullState(exp);
		else if (header == "server_param")
			serverParam(exp);
		else if (header == "player_param")
			playerParam(exp);
		else if (header == "player_type")