basicagent.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: Ahmad Boorghany
 *
 *  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 <Command.h>
#include <BasicAgent.h>
#include <SExpression.h>
#include <SignalHandler.h>
#include <OnlineConnection.h>
#include <VirtualConnection.h>

using namespace std;

BasicAgent::BasicAgent(int argc, char **argv)
{
	setConfigDefaults();
	config["Agent"].setByFile("./Configs/Agent.conf");
	if (!config["Agent"].setByArguments(argc, argv))
		exit(1);

	worldModel = new WorldModel();

	sayCycleCommand = NULL;
	bodyCycleCommand = NULL;
	headCycleCommand = NULL;
	pointToCycleCommand = NULL;
	attentionCycleCommand = NULL;
	changeViewCycleCommand = NULL;

	lastBodyCycleCommand = new EmptyCommand(AT_NONE);

	setBodyCycleCommandDecidePermitted(true);
	setBodyCycleCommandSendPermitted(true);
	setHeadCycleCommandDecidePermitted(true);
	setHeadCycleCommandSendPermitted(true);
}

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

void BasicAgent::run()
{
	if (config["Agent"]["Server"]["OfflinePlayer"].asBool())
	{
		initVirtualConnection();
		offlinePlayerManager();
		closeVirtualConnection();
	}
	else
	{
		SignalHandler::initSignalHandlers(this);
		initOnlineConnection();
		SignalHandler::run();
		SignalHandler::finalSignalHandlers();
		closeOnlineConnection();
	}
}

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

	worldModel->setCurTime(worldModel->getCurTime() + 1);

	worldModel->setBody().parseSenseBody(exp, worldModel->getFieldSide());
	checkForLosts();

	if (!isBodyCycleCommandLost())
		worldModel->setBody().simulateByAction(bodyCycleCommand, true);

	worldModel->setBody().simulateByDynamics(true);
	worldModel->setBody().completeParseSenseBody();

	const Body lastBody = worldModel->getBody(); // for ball simulate

	if (!isBodyCycleCommandLost())
		worldModel->simulateObjects(lastBody, bodyCycleCommand);
	else
		worldModel->simulateObjects(lastBody, NULL);

	worldModel->setCurCycle(worldModel->getBody().getSenseBodyCycle());
	worldModel->updateSeeDeltaCyclesAfterSenseBody();
	worldModel->updatePlayModeRemainCycleAfterSenseBody();

	worldModel->updateAfterSenseBody();

	worldModel->logObjects();
}

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

	worldModel->resetObjects();
	worldModel->parseSee(exp);
	worldModel->updateObjects();

	worldModel->updateSeeDeltaCyclesAfterSee();

	worldModel->logObjects();
}

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

	worldModel->parseHear(exp);
}

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

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

	worldModel->initServerParam(exp);
}

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

	worldModel->initPlayerParam(exp);
}

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

	worldModel->initPlayerType(exp);
}

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

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

	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);
	}

	at = dynamic_cast<SExpAtomic *>(exp[2]);
	assert(at);
	assert(at->asInt() <= FULL_PLAYERS_NUM);
	bodyUniNum = at->asInt();

	worldModel->setBody().setUniNum(bodyUniNum);
	worldModel->setBody().setGoalie(
			config["Agent"]["Public"]["IsGoalie"].asBool());
	worldModel->replaceBodyInPlayersList(bodyUniNum);

	at = dynamic_cast<SExpAtomic *>(exp[3]);
	assert(at);
	assert(at->toString() == "before_kick_off");

	// Initing log file
	if ((config["Agent"]["AgentLog"]
			   ["OutputLogAddress"].asString().end() - 1)[0] != '/')
		logFileName = "/";
	else
		logFileName = "";
	logFileName += config["Agent"]["Public"]["TeamName"].asString();

	if (bodyUniNum < 10)
		logFileName += (char)('0' + bodyUniNum);
	else
		logFileName += (char)('A' + bodyUniNum - 10);

	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());

	string drawLogFileName = logFileName + ".draw";
	if (config["Agent"]["AgentLog"]["DrawLogToFile"].asBool())
		logger.add("DrawLog", new LogFile(
				config["Agent"]["AgentLog"]
					  ["DrawLogAddress"].asString() + drawLogFileName,
				&worldModel->getTimer()));
	else
		logger.add("DrawLog", new LogNull());



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

	cout << "Player " << bodyUniNum << " 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;

	Command *clangVer = new CLangVersionCommand(AT_BASIC_AGENT, 7, 9);
	LOG << "SendStr: " << clangVer->toString() << endl;
	connection->send(clangVer);
	delete clangVer;

}

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

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

	worldModel->parseChangePlayerType(exp);
}

bool BasicAgent::sigAlrmHandler()
{
	return synchronize();
}

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

bool BasicAgent::sigIOHandler()
{
	bool iReceivedSomething = false;

	string message;
	while (connection->receive(message) == 1)
	{
		iReceivedSomething = true;

		curReceiveMS = worldModel->getTimer().now();

		unsigned i = 0;
		SExpression exp(message, i);
//		assert(i + 1 == message.length());
		string header = ((SExpAtomic *)exp[0])->asString();

		if (header == "sense_body")
			senseBody(exp);
		else if (header == "see")
			see(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")
			playerType(exp);