aeolus3d05.cpp

RoboCup 3D 仿真组清华大学2005的源代码

/***************************************************************************
 *   Copyright (C) 2005 by Rujia Liu                                       *
 *   [e-mail]                                                  *
 *                                                                         *
 *   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; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

#include <iostream>
#include <cstdlib>
#include <oxygen/oxygen.h>

#include "agent.h"
#include "wmbuilder.h"
#include "worldmodel.h"
#include "skill.h"
#include "decision.h"
#include "formation.h"
#include "situation.h"

Agent      agent;
WorldModel wm;
WMBuilder  wmb;
Skill      skill;
Decision   decision;
Formation  formation;
Situation  situation;

using namespace std;
using namespace zeitgeist;
using namespace oxygen;

Zeitgeist zg(".", PACKAGE_NAME);
Oxygen og(zg);

const int max_str_length = 1000;

AgentParam param;

// read from param.txt to get parameters
int ReadParamFile(char *fname)
{
    FILE *fp = fopen(fname, "r");
    if(fp == NULL) return 0;
    
    // default parameters
    agent.SetTeamName("Aeolus3D");
    wm.SetTeamName("Aeolus3D");
    agent.SetCycleStep(1);
    
    // physics parameters
    wm.physics.SetMaxLRV(8);
    wm.physics.SetSpeedPrecision(0.1);
    
    // log files
    param.action_log = false;
    param.wmb_log  = false;
    param.wm_log = false;
    param.wm_logvision = false;
    param.wm_logcur = false;
    param.decision_log = false;
    param.skill_log = false;
    param.formation_log = false;
    
    // offclient module
    param.offclient_rec = false;
    param.offclient_do = false;
    strcpy(param.offclient_file, "");
    
    // formation
    strcpy(formation.SBPFile, "playertype.sbp");
    strcpy(formation.FMTFile, "aeolus3d05.fmt");
    
    // read parameter file
    char line[max_str_length];
    char paramName[max_str_length], assign[max_str_length], value[max_str_length];    
    
    while(!feof(fp))
    {
        // read a line and skips commented ones
        fgets(line, max_str_length, fp);
        if(line[0] == '#' || line[0] == ';') continue;

        if(sscanf(line, "%s%s%s", paramName, assign, value) != 3) continue; // invalid line format
        fprintf(stderr, "(Param) Setting %s to %s...\n", paramName, value);

        // basic
        if(strcmp(paramName, "TeamName") == 0)
            { agent.SetTeamName(value); wm.SetTeamName(value); }
   
        // offclient
        if(strcmp(paramName, "OffClient_Rec") == 0)
            param.offclient_rec = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "OffClient_Do") == 0)
            param.offclient_do = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "OffClient_File") == 0)
            strcpy(param.offclient_file, value);
        if(strcmp(paramName, "OffClient_Time") == 0)
            param.offclient_time = atof(value);
    
        // formation
        if(strcmp(paramName, "SBP_File") == 0)
            strcpy(formation.SBPFile, value);
        if(strcmp(paramName, "FMT_File") == 0)
            strcpy(formation.FMTFile, value);

        // time control    
        if(strcmp(paramName, "CycleStep") == 0)
            agent.SetCycleStep(atoi(value));
        if(strcmp(paramName, "max_lrv") == 0)
            wm.physics.SetMaxLRV(atoi(value));
        if(strcmp(paramName, "speed_precision") == 0)
            wm.physics.SetSpeedPrecision(atof(value));
    
        // log system
        if(strcmp(paramName, "action_log") == 0)
            param.action_log = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "wmb_log") == 0)
            param.wmb_log = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "wm_log") == 0)
            param.wm_log = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "wm_logvision") == 0)
            param.wm_logvision = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "wm_logcur") == 0)
            param.wm_logcur = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "decision_log") == 0)
            param.decision_log = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "skill_log") == 0)
            param.skill_log = (value[0] == 'y' || value[0] == 'Y');
        if(strcmp(paramName, "formation_log") == 0)
            param.formation_log = (value[0] == 'y' || value[0] == 'Y');
    
    }
    
    // check offclient parameters
    if(param.offclient_do)
    {
        if(param.offclient_rec)
        {
            fprintf(stderr, "Error: cannot enable both offclient_rec and offclient_do, \
                            disbling offclient_do.\n");
            param.offclient_do = false;
        }
        agent.offclient_fp = fopen(param.offclient_file, "r");
        if(agent.offclient_fp == NULL)
        {
            fprintf(stderr, "Error: cannot open offclient_log file %s, disabling offclient_do\n",
                            param.offclient_file);
            param.offclient_do = false;
        }
    }      
    return 1;
}

int main(int argc, char *argv[])
{  
    // set parameter filename
    char paramFileName[max_str_length];
    
    if(argc > 1)
        strcpy(paramFileName, argv[1]);
    else
        strcpy(paramFileName, "param.txt");

    if(!ReadParamFile(paramFileName))
        fprintf(stderr, "Fatal Error: cannot find %s, aborting...\n", paramFileName);
    else if(!zg.GetCore()->GetScriptServer()->RunInitScript("aeolus3d05.rb", "."))
        fprintf(stderr, "Fatal Error: cannot find aeolus3d05.rb, aborting...\n");
    else
    {
        if(!param.offclient_rec)
        {
            printf("************************************\n");
            printf("*   RoboCup Simulation 3D League   *\n");
            printf("*       Team TsinghuAeolus3D       *\n");
            printf("*                                  *\n");
            printf("*      source code release         *\n");
            printf("*                                  *\n");
            printf("*       Author: Rujia Liu          *\n");
            printf("*                                  *\n");
            printf("*   Tsinghua University, China     *\n");
            printf("*                                  *\n");
            printf("************************************\n");
            printf("\n");
        }

        agent.SetTeamUnum(0);
        bool result = agent.Behave();

        if(result && !param.offclient_rec)
            printf("TsinghuAeolus3D 2005 exited normally.\n");  
    }
    return 0;
}