parse.c

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

	SightInfo++;
	if ( !strncmp(SightInfo,Mem->MyTeamName,Mem->MyTeamNameLen) )
	  player_side = Mem->MySide;
	else{
	  if ( Mem->TheirTeamName[0] == '\n' ){
	    int a=0;
	    while ( isalpha(*SightInfo) ) Mem->TheirTeamName[a++]=*SightInfo++;
	  }
	  player_side = Mem->TheirSide;
	}
	while ( *SightInfo != ' ' && *SightInfo != ')' ) SightInfo++; /* advance past team name */
	if ( *SightInfo== ' ' ){             /* there's a number */
	  player_number = get_int(&SightInfo);
	}
      }
    } else
    if ( *SightInfo=='b' || *SightInfo=='B' )
      object_type = OBJ_Ball;
    else
      my_error("unknown object");

    advance_to(')',&SightInfo);              /* advance to end of object */

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

    ang = get_float(&SightInfo);

    if ( *SightInfo != ')' ) {                  /* 'high' quality     */
      view_qual = VQ_High;
      dist = ang;
      ang = get_float(&SightInfo);
    }
    else {
      printf("%s",SightInfo-30);
      view_qual = VQ_Low;
    }

    if ( view_qual != Mem->ViewQuality ) my_error("View quality %d correct?",view_qual);

    if ( *SightInfo != ')' ){
      distChng = get_float(&SightInfo);
      dirChng  = get_float(&SightInfo);
    }

    if ( *SightInfo != ')' ){
      if (object_type != OBJ_Player) my_error("Only players should have facedir");
      facedir = get_float(&SightInfo);
    }

    if ( *SightInfo != ')' ) my_error("Should be done with object info here");
    SightInfo++;                                /* ")" */

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

    switch (object_type){
    case OBJ_Marker:
    case OBJ_Marker_Behind:
      /* Want to save 2 closest for triangulation  */
      /* don't want marker_behind unless necessary */

      /* If it was a Marker_Behind and we don't know which one */
      if ( marker == No_Marker ){
	if ( object_type != OBJ_Marker_Behind ) my_error("Should know the marker");
	break;
      }

      processThisMarker = FALSE;
      if ( view_qual == VQ_Low ){               /* Low quality   */
        /* DON'T BOTHER PROCESSING ANY??? I don't think it helps ... */
	/* COULD process 2---then triangulate */
	/*if ( closestMarkerDist > 0 ){ */
	/*  closestMarkerDist = 0;  */                 /* Only process 1*/
	/*  processThisMarker = TRUE; */
	/*}*/
      }
      else{                                          /* high quality  */
	if ( closestMarker == No_Marker || dist < closestMarkerDist){
	  closestMarker = marker;
	  closestMarkerDist = dist;
	  processThisMarker = TRUE;
	  Mem->ClosestMarker = marker;
	}
	/* Don't bother with marker motion info -- get it from sense_body and my angle 
	if ( dirChng != NOCHNGINFO && dist < motionInfoDist ){
	  motionInfoDist = dist;
	  processThisMarker = TRUE;
	  Mem->ClosestMotionMarker = marker;
	}
	*/
      }
      if ( processThisMarker ){
	if ( view_qual == VQ_Low )              /* low quality   */
	  Mem->SeeMarker(marker, ang, time);
	else /* if (dirChng == NOCHNGINFO) */                  /* high quality  */
	  Mem->SeeMarker(marker, dist, ang, time);   /* No motion info*/
	/* else
	  Mem->SeeMarker(marker, dist, ang, distChng, dirChng, time); */
      }
      break;
    case OBJ_Line:
      if ( *SightInfo != ')' )
	/* There's another line coming.  Assuming lines happen
	   last in the visual string and the closer line comes first */
	; 
      else if ( view_qual == VQ_Low )           /* low quality   */
	Mem->SeeLine(line, ang, time);
      else                                           /* high quality  */
	Mem->SeeLine(line, dist, ang, time);
      break;
    case OBJ_Ball:
      if ( view_qual == VQ_Low )                /* low quality   */
	Mem->SeeBall(ang, time);
      else if ( dirChng == NOCHNGINFO )                   /* high quality  */
	Mem->SeeBall(dist, ang, time);
      else                                           /* know direction*/
	Mem->SeeBall(dist, ang, distChng, dirChng, time);         
      break;
    case OBJ_Player:
      if ( !player_side ){                      /* Too far for team or num */
	if ( view_qual == VQ_Low )                /* low quality   */
	  Mem->SeePlayer(ang, time);
	else if ( dirChng == NOCHNGINFO )                   /* high quality  */
	  Mem->SeePlayer(dist, ang, time);
	else                                           /* know direction*/
	  my_error("Shouldn't know dirChng when the player's far");
      }  

      else{
	if ( !player_number ){                  /* Too far for number     */
	  if ( view_qual == VQ_Low )                /* low quality   */
	    Mem->SeePlayer(player_side, ang, time);
	  else if ( dirChng == NOCHNGINFO )                   /* high quality  */
	    Mem->SeePlayer(player_side, dist, ang, time);
	  else                                           /* know direction*/
	    my_error("Shouldn't know dirChng when the team member's far");
	}

	else{                                   /* Know side AND number   */
	  if ( view_qual == VQ_Low )                /* low quality   */
	    Mem->SeePlayer(player_side, player_number, ang, time);
	  else if ( dirChng == NOCHNGINFO ){                  /* high quality  */
	    printf("%s\n",SightInfo-30);
	    my_error("Should know dirChng when know number");
	    Mem->SeePlayer(player_side, player_number, dist, ang, time);
	  }
	  else                                           /* know direction*/
	    Mem->SeePlayer(player_side, player_number, dist, ang, distChng, dirChng, facedir, time);
	}
      }
    }
  }
}


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

void Parse_Sound(Time time, char *SoundInfo)
{
  if ( SoundInfo[1] == 'r' ){   /* Referee or Coach message */
    SoundInfo += 9;             /* " referee " */
    if ( islower(SoundInfo[0]) )
      Parse_Referee_Sound(SoundInfo);  /* Coach messages start with capital letters or are numbers */
    else
      my_error("Not handling coach yet");
      /* Parse_Coach_Sound  (time, SoundInfo); */
    return;
  }
  
#ifndef RELEASE_VERSION
  Mem->ParsePlayerSound(SoundInfo, time); 
#endif
  
  /* How to parse a sound from a player depends on the communication mechanism you use.
   * Our communication mechanism is described in:
   *
   * First International Workshop on Collective Robotics (CRW'98)
   * Communication in Domains with Unreliable, Single-Channel, Low-Bandwidth Communication. 
   * Peter Stone and Manuela Veloso
   * Available on-line at http://www.cs.cmu.edu/~pstone/pstone-papers.html
   */
}




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

void Parse_Referee_Sound(char *msg)
{
  switch( msg[0] ){
  case 'p': Mem->SetPlayMode(PM_Play_On); break;           /* play_on */
  case 'k': 
    if ( msg[5] == 'i' ){                                  /* kick_in */
      if ( msg[8] == Mem->MySide )
	Mem->SetPlayMode(PM_My_Kick_In);
      else if ( msg[8] == Mem->TheirSide )
	Mem->SetPlayMode(PM_Their_Kick_In);
      else 
	my_error("kick_in_?");
    }
    else if ( msg[5] == 'o' ){                            /* kick_off */
      if ( msg[9] == Mem->MySide )
	Mem->SetPlayMode(PM_My_Kick_Off);
      else if ( msg[9] == Mem->TheirSide )
	Mem->SetPlayMode(PM_Their_Kick_Off);
      else 
	my_error("kick_off_?");
    }
    else
      my_error("referee k..?");
    break;
  case 'g': 
    if ( msg[5] == 'k' ){                                 /* goal_kick */
      if ( msg[10] == Mem->MySide )
	Mem->SetPlayMode(PM_My_Goal_Kick);
      else if ( msg[10] == Mem->TheirSide )
	Mem->SetPlayMode(PM_Their_Goal_Kick);
      else 
	my_error("goal_kick_?");
    }
    else if ( msg[5] == 'e' ){                           /* goalie_catch_ball */
      if ( msg[18] == Mem->MySide )
	Mem->SetPlayMode(PM_My_Free_Kick);
      else if ( msg[18] == Mem->TheirSide )
	Mem->SetPlayMode(PM_Their_Free_Kick);
      else
	my_error("goalie_catch_ball_?");
    }
    else if ( msg[5] == Mem->MySide ){                    /* goal */
      Mem->MyScore++;
      //Mem->MyScore = get_int(&msg[7]);
      Mem->KickOffMode = KO_Theirs;
      Mem->SetPlayMode(PM_Before_Kick_Off);
    }
    else if ( msg[5] == Mem->TheirSide ){
      Mem->TheirScore++;
      //Mem->TheirScore = get_int(&msg[7]);
      Mem->KickOffMode = KO_Mine;
      Mem->SetPlayMode(PM_Before_Kick_Off);
    }
    else 
      my_error("referee g..?");
    break;
  case 'c':                                               /* corner_kick */
    if ( msg[12] == Mem->MySide )
      Mem->SetPlayMode(PM_My_Corner_Kick);
    else if ( msg[12] == Mem->TheirSide )
      Mem->SetPlayMode(PM_Their_Corner_Kick);
    else 
      my_error("corner_kick_?");
    break;
  case 'd': Mem->SetPlayMode(PM_Drop_Ball); break;        /* drop_ball */    
  case 'o':                                               /* offside */    
    if ( msg[8] == Mem->MySide )
      Mem->SetPlayMode(PM_Their_Offside_Kick);
    else if ( msg[8] == Mem->TheirSide )
      Mem->SetPlayMode(PM_My_Offside_Kick);
    else 
      my_error("offside_?");
    break;
  case 'f':
    if ( msg[5] == 'k' ){                                 /* free_kick */
      if ( msg[10] == Mem->MySide )
	Mem->SetPlayMode(PM_My_Free_Kick);
      else if ( msg[10] == Mem->TheirSide )
	Mem->SetPlayMode(PM_Their_Free_Kick);
      else 
	my_error("free_kick_?");
    }
    else if ( msg[5] == Mem->MySide )                     /* foul */
      ;
    else if ( msg[5] == Mem->TheirSide )
      ;
    else 
      my_error("referee f..?");
    break;
  case 'h':                                               /* half_time */
//    Mem->WriteHalftimeStats("firstHalf");
//    Mem->InitializeHalftimeStats();
    Mem->SetPlayMode(PM_Half_Time);  /* play_mode to before_kick_off        */
    if ( Mem->MySide == 'l' )
      Mem->KickOffMode = KO_Theirs;
    else 
      Mem->KickOffMode = KO_Mine;
    break;             
  case 'b': Mem->SetPlayMode(PM_Before_Kick_Off); break;       /* before_kick_off */
  case 't': 
    if ( msg[5] == 'u' ){                             /* time_up */
//      Mem->WriteFullGameStats();
//      Mem->WriteHalftimeStats("secondHalf");
      Mem->SetPlayMode(PM_Time_Up); 
    }
    else if ( msg[5] == 'o' )                             /* time_over */
      {
//	Mem->WriteFullGameStats();
	break;
      }
    else if ( msg[5] == 'e' ){                            /* time_extended */
//      Mem->WriteFullGameStats();
//      Mem->WriteHalftimeStats("secondHalf");
      Mem->SetPlayMode(PM_Extended_Time);
      if ( Mem->MySide == 'l' )
	Mem->KickOffMode = KO_Mine;
      else 
	Mem->KickOffMode = KO_Theirs;
    }
    else 
      my_error("referee t..?");
    break;
  default: my_error("Referee msg ????");
  }
}