parse.c

RoboCup 2D 仿真组冠军源代码之1998年冠军队——CMUnited98源代码

/* -*- Mode: C -*- */

/* parse.C
 * CMUnited98 (soccer client for Robocup98)
 * Peter Stone <[e-mail]>
 * Computer Science Department
 * Carnegie Mellon University
 * Copyright (C) 1998 Peter Stone
 *
 * CMUnited-98 was created by Peter Stone, Manuela Veloso, and Patrick Riley
 *
 * You may copy and distribute this program freely as long as you retain this notice.
 * If you make any changes or have any comments we would appreciate a message.
 */

/* parse.C parses incoming messages from the server
 */

#include "client.h"
#include "utils.h"

void Parse_Sight(Time time, char *SightInfo);
void Parse_Sense(Time time, char *SenseInfo);
void Parse_Sound(Time time, char *SoundInfo);
void Parse_Referee_Sound(char *RefereeSound);

/****************************************************************************************/
/****************************************************************************************/
/****************************************************************************************/

void Parse(char *SensoryInfo)
{
  SenseType sense_type;
  int     time;

  switch ( SensoryInfo[3] ){            
  case 'e': sense_type = See_Msg;   break; /* see   */
  case 'n': sense_type = Sense_Msg; break; /* sense */
  case 'a': sense_type = Hear_Msg;  break; /* hear  */
  default:  my_error("Sent an illegal message"); return;
  }

  time = get_int(&SensoryInfo);         /* %d    */

  Time tm = Mem->update_time(time);

  switch ( sense_type ){
  case See_Msg:   
    if ( !Mem->LastActionOpTime ) break; /* Don't parse until I've started counting time */
    Parse_Sight(tm, SensoryInfo); 
    Mem->LastSightInterval = tm - Mem->LastSightTime;
    Mem->LastSightTime = tm;
    Mem->NewSight = TRUE;
    break;
  case Sense_Msg: 
    Parse_Sense(tm, SensoryInfo);      
    Mem->LastSenseTime = tm;
    break;
  case Hear_Msg:  
    if ( !Mem->LastActionOpTime ) break; /* Don't parse until I've started counting time */
    Parse_Sound(tm, SensoryInfo); 
    Mem->LastSoundTime = tm;
    break;
  }

  Mem->LastSenseType = sense_type;
}




/****************************************************************************************/
/****************************************************************************************/
/****************************************************************************************/

void Parse_Sense(Time time, char *SenseInfo)
{
  get_word(&SenseInfo);  
  SenseInfo += 10;       /* "view_mode " */

  switch ( SenseInfo[0] ){
  case 'h': Mem->ViewQuality = VQ_High; break;  /* high */
  case 'l': Mem->ViewQuality = VQ_Low;  break;  /* low  */
  default:  my_error("Unknown view quality");
  }

  Mem->LastViewWidth = Mem->ViewWidth;
  Mem->ViewWidthTime = time;
  get_next_word(&SenseInfo);  
  switch ( SenseInfo[1] ){
  case 'o': Mem->ViewWidth = VW_Normal; break;  /* normal */
  case 'a': Mem->ViewWidth = VW_Narrow; break;  /* narrow */
  case 'i': Mem->ViewWidth = VW_Wide;   break;  /* wide   */
  default:  my_error("Unknown view quality");
  }
   
  float stamina = get_float(&SenseInfo);
  float effort  = get_float(&SenseInfo);
  float speed   = get_float(&SenseInfo);

  int kicks  =   get_int(&SenseInfo);
  int dashes =   get_int(&SenseInfo);
  int turns  =   get_int(&SenseInfo);
  int says   =   get_int(&SenseInfo);

  Mem->SetMySensedInfo(stamina,effort,speed,kicks,dashes,turns,says,time);
}


/****************************************************************************************/

#define NOCHNGINFO -500
#define NOFACEINFO -500

void Parse_Sight(Time time, char *SightInfo)
{
  float dist, ang;
  float dirChng; 
  float distChng;
  ObjType object_type;  
  char player_side;
  Unum player_number;
  float facedir;
  MarkerType marker;
  SideLine  line;
  Vqual view_qual;
  MarkerType closestMarker = No_Marker;
  Bool processThisMarker;
  float closestMarkerDist;
  /* float motionInfoDist = 1000; */

  while (*SightInfo != ')'){

    dirChng = NOCHNGINFO;
    facedir = NOFACEINFO;
    player_number = player_side = 0;

    get_word(&SightInfo);            /* " ((" */

    if ( *SightInfo=='g' ){
      object_type = OBJ_Marker;
      SightInfo+=5;          /* "goal " */
      if ( *SightInfo=='r' )         marker = Goal_R; else
      if ( *SightInfo=='l' )         marker = Goal_L; else
      my_error("goal ?");
    } else
    if ( *SightInfo=='G' ){
      object_type = OBJ_Marker_Behind;  marker = Mem->ClosestGoal();  
    } else
    if ( *SightInfo=='f' ){
      object_type = OBJ_Marker;
      SightInfo+=5;          /* "flag " */
      if ( *SightInfo=='r' ){
	SightInfo+=2;
	if ( *SightInfo=='0' )       marker = Flag_R0;   else
	if ( *SightInfo=='b' ){
	  SightInfo+=1;
	  if ( *SightInfo==')' )     marker = Flag_RB; 
	  else{
	    SightInfo+=1;
	    if ( *SightInfo=='1' )   marker = Flag_RB10; else
	    if ( *SightInfo=='2' )   marker = Flag_RB20; else
	    if ( *SightInfo=='3' )   marker = Flag_RB30; else
	    my_error("flag r b ?");
	  }  
	} else
	if ( *SightInfo=='t' ){
	  SightInfo+=1;
	  if ( *SightInfo==')' )     marker = Flag_RT; 
	  else{
	    SightInfo+=1;
	    if ( *SightInfo=='1' )   marker = Flag_RT10; else
	    if ( *SightInfo=='2' )   marker = Flag_RT20; else
	    if ( *SightInfo=='3' )   marker = Flag_RT30; else
	    my_error("flag r t ?");
	  }  
	} else
	my_error("flag r ?");
      } else
      if ( *SightInfo=='l' ){
	SightInfo+=2;
	if ( *SightInfo=='0' )       marker = Flag_L0;   else
	if ( *SightInfo=='b' ){
	  SightInfo+=1;
	  if ( *SightInfo==')' )     marker = Flag_LB; 
	  else{
	    SightInfo+=1;
	    if ( *SightInfo=='1' )   marker = Flag_LB10; else
	    if ( *SightInfo=='2' )   marker = Flag_LB20; else
	    if ( *SightInfo=='3' )   marker = Flag_LB30; else
	    my_error("flag l b ?");
	  }  
	} else
	if ( *SightInfo=='t' ){
	  SightInfo+=1;
	  if ( *SightInfo==')' )     marker = Flag_LT; 
	  else{
	    SightInfo+=1;
	    if ( *SightInfo=='1' )   marker = Flag_LT10; else
	    if ( *SightInfo=='2' )   marker = Flag_LT20; else
	    if ( *SightInfo=='3' )   marker = Flag_LT30; else
	    my_error("flag l t ?");
	  }  
	} else
	my_error("flag l ?");
      } else
      if ( *SightInfo=='t' ){
	SightInfo+=2;
	if ( *SightInfo=='0' )       marker = Flag_T0;   else
	if ( *SightInfo=='l' ){
	  SightInfo+=2;
	  if ( *SightInfo=='1' )     marker = Flag_TL10; else
	  if ( *SightInfo=='2' )     marker = Flag_TL20; else
	  if ( *SightInfo=='3' )     marker = Flag_TL30; else
	  if ( *SightInfo=='4' )     marker = Flag_TL40; else
	  if ( *SightInfo=='5' )     marker = Flag_TL50; else
	  my_error("flag t l ?");
	} else
	if ( *SightInfo=='r' ){
	  SightInfo+=2;
	  if ( *SightInfo=='1' )     marker = Flag_TR10; else
	  if ( *SightInfo=='2' )     marker = Flag_TR20; else
	  if ( *SightInfo=='3' )     marker = Flag_TR30; else
	  if ( *SightInfo=='4' )     marker = Flag_TR40; else
	  if ( *SightInfo=='5' )     marker = Flag_TR50; else
	  my_error("flag t r ?");
	} else
	my_error("flag t ?");
      } else
      if ( *SightInfo=='b' ){
	SightInfo+=2;
	if ( *SightInfo=='0' )       marker = Flag_B0;   else
	if ( *SightInfo=='l' ){
	  SightInfo+=2;
	  if ( *SightInfo=='1' )     marker = Flag_BL10; else
	  if ( *SightInfo=='2' )     marker = Flag_BL20; else
	  if ( *SightInfo=='3' )     marker = Flag_BL30; else
	  if ( *SightInfo=='4' )     marker = Flag_BL40; else
	  if ( *SightInfo=='5' )     marker = Flag_BL50; else
	  my_error("flag b l ?");
	} else
	if ( *SightInfo=='r' ){
	  SightInfo+=2;
	  if ( *SightInfo=='1' )     marker = Flag_BR10; else
	  if ( *SightInfo=='2' )     marker = Flag_BR20; else
	  if ( *SightInfo=='3' )     marker = Flag_BR30; else
	  if ( *SightInfo=='4' )     marker = Flag_BR40; else
	  if ( *SightInfo=='5' )     marker = Flag_BR50; else
	  my_error("flag b r ?");
	} else
	my_error("flag b ?");
      } else
      if ( *SightInfo=='c' ){
	SightInfo+=1;
	if ( *SightInfo==')' )       marker = Flag_C;
	else{
	  SightInfo+=1;
	  if ( *SightInfo=='b' )     marker = Flag_CB; else
	  if ( *SightInfo=='t' )     marker = Flag_CT; else
          my_error("flag c ?");
	}
      } else
      if ( *SightInfo=='p' ){
	SightInfo+=2;
	if ( *SightInfo=='r' ){
	  SightInfo+=2;
	  if ( *SightInfo=='t')      marker = Flag_PRT; else
	  if ( *SightInfo=='c')      marker = Flag_PRC; else
	  if ( *SightInfo=='b')      marker = Flag_PRB; else	    
	  my_error("flag p r ?");
	} else
	if ( *SightInfo=='l' ){
	  SightInfo+=2;
	  if ( *SightInfo=='t')      marker = Flag_PLT; else
	  if ( *SightInfo=='c')      marker = Flag_PLC; else
	  if ( *SightInfo=='b')      marker = Flag_PLB; else	    
	  my_error("flag p l ?");
	} else
	my_error("flag p ?");
      } else
      if ( *SightInfo=='g' ){
	SightInfo+=2;
	if ( *SightInfo=='l' ){
	  SightInfo+=2;
	  if ( *SightInfo=='t' )     marker = Flag_GLT; else
	  if ( *SightInfo=='b' )     marker = Flag_GLB; else
	  my_error("flag g l ?");
	} else
	if ( *SightInfo=='r' ){
	  SightInfo+=2;
	  if ( *SightInfo=='t' )     marker = Flag_GRT; else
	  if ( *SightInfo=='b' )     marker = Flag_GRB; else
	  my_error("flag g r ?");
	} else
	my_error("flag g ?");
      } else
      my_error("flag ?");
    } else
    if ( *SightInfo=='F' ){
      object_type = OBJ_Marker_Behind;
                                     marker = Mem->ClosestFlagTo(); /* could be No_Marker */
    } else
    if ( *SightInfo=='l' ){
      object_type = OBJ_Line;
      SightInfo+=5;          /* "line " */
      if ( *SightInfo=='r' )         line   = SL_Right;  else
      if ( *SightInfo=='l' )         line   = SL_Left;   else
      if ( *SightInfo=='t' )         line   = SL_Top;    else
      if ( *SightInfo=='b' )         line   = SL_Bottom; else
      my_error("line ?");
    } else
    if ( *SightInfo=='p' || *SightInfo=='P' ){
      object_type = OBJ_Player;
      SightInfo+=6;                          /* "player" */
      if ( *SightInfo == ' ' ){              /* there's a team */