sensehandler_8c-source.html

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00398 
<a name="l00404"></a><a class="code" href="classSenseHandler.html#a7">00404</a> <font class="keywordtype">bool</font> <a class="code" href="classSenseHandler.html#a7">SenseHandler::analyzeInitMessage</a>( <font class="keywordtype">char</font> *strMsg )
00405 {
00406   strMsg += 6;                                            <font class="comment">// go to Side</font>
00407   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a17">setSide</a>( <a class="code" href="classSoccerTypes.html#d32">SoccerTypes::getSideFromStr</a>( strMsg ) );   <font class="comment">// get and set Side</font>
00408   <font class="keywordtype">int</font> nr = <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg );               <font class="comment">// get and set number</font>
00409   <font class="keywordflow">if</font>( nr == 0 )                                           <font class="comment">// coach</font>
00410   {
00411      <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a15">setPlayerNumber</a>( nr );
00412      <font class="keywordflow">return</font> <font class="keyword">true</font>;
00413   }
00414   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a35">setAgentObjectType</a>( <a class="code" href="classSoccerTypes.html#d15">SoccerTypes::getTeammateObjectFromIndex</a>( nr - 1 ) );
00415   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a15">setPlayerNumber</a>( nr );
00416   strMsg++;                                               <font class="comment">// skip space to pm</font>
00417   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a21">setPlayMode</a>( <a class="code" href="classSoccerTypes.html#d19">SoccerTypes::getPlayModeFromStr</a>( strMsg ) ); <font class="comment">// get playmode</font>
00418   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00419 }
00420 
<a name="l00428"></a><a class="code" href="classSenseHandler.html#a8">00428</a> <font class="keywordtype">bool</font> <a class="code" href="classSenseHandler.html#a8">SenseHandler::analyzeHearMessage</a>( <font class="keywordtype">char</font> *strMsg )
00429 {
00430   <a class="code" href="SoccerTypes_8h.html#a243">RefereeMessageT</a> rm;
00431   <a class="code" href="SoccerTypes_8h.html#a242">PlayModeT</a>       pm;
00432   strcpy( <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#m5">strLastHearMessage</a>, strMsg);
00433 
00434   <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg );                          <font class="comment">// ignore time</font>
00435   <a class="code" href="classTime.html">Time</a> time = <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a4">getCurrentTime</a>();
00436 
00437   <font class="keywordflow">switch</font>( <a class="code" href="classParse.html#d4">Parse::gotoFirstNonSpace</a>( &amp;strMsg ) )
00438   {
00439     <font class="keywordflow">case</font> <font class="charliteral">'r'</font>:                                               <font class="comment">// referee</font>
00440       <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a2">setTimeLastRefereeMessage</a>( time );
00441       <a class="code" href="classParse.html#d3">Parse::gotoFirstOccurenceOf</a>( <font class="charliteral">' '</font>, &amp;strMsg );          <font class="comment">// go to start</font>
00442       <a class="code" href="classParse.html#d4">Parse::gotoFirstNonSpace</a>   ( &amp;strMsg      );          <font class="comment">// and first part</font>
00443       rm = <a class="code" href="classSoccerTypes.html#d23">SoccerTypes::getRefereeMessageFromStr</a>( strMsg ); <font class="comment">// get the ref msg</font>
00444       Log.logWithTime( 2, <font class="stringliteral">" referee message: %s %s"</font>,
00445       <a class="code" href="classSoccerTypes.html#d22">SoccerTypes::getRefereeMessageStr</a>(rm), <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#m5">strLastHearMessage</a>);
00446       pm = <a class="code" href="classSoccerTypes.html#d20">SoccerTypes::getPlayModeFromRefereeMessage</a>( rm );<font class="comment">// get play mode</font>
00447       <font class="keywordflow">if</font>( pm != <a class="code" href="SoccerTypes_8h.html#a242a140">PM_ILLEGAL</a> )                                <font class="comment">// from ref msg</font>
00448         <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a21">setPlayMode</a>( pm );                              <font class="comment">// if was pm, set it</font>
00449 
00450       <font class="keywordflow">if</font>( rm == <a class="code" href="SoccerTypes_8h.html#a243a165">REFC_GOAL_LEFT</a> )                            <font class="comment">// goal left</font>
00451       {
00452         <font class="keywordflow">if</font>( <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a16">getSide</a>() == <a class="code" href="SoccerTypes_8h.html#a246a177">SIDE_LEFT</a> )
00453           <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a23">addOneToGoalDiff</a>();
00454         <font class="keywordflow">else</font>
00455           <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a24">subtractOneFromGoalDiff</a>();
00456         <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a88">processSeeGlobalInfo</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, time, <a class="code" href="classVecPosition.html">VecPosition</a>( 0, 0 ),
00457              <a class="code" href="classVecPosition.html">VecPosition</a>( 0, 0 ), 0, 0 );
00458       }
00459       <font class="keywordflow">else</font> <font class="keywordflow">if</font>( rm == <a class="code" href="SoccerTypes_8h.html#a243a166">REFC_GOAL_RIGHT</a> )                      <font class="comment">// goal right</font>
00460       {
00461         <font class="keywordflow">if</font>( <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a16">getSide</a>() == <a class="code" href="SoccerTypes_8h.html#a246a178">SIDE_RIGHT</a> )
00462           <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a23">addOneToGoalDiff</a>();
00463         <font class="keywordflow">else</font>
00464           <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a24">subtractOneFromGoalDiff</a>();
00465         <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a88">processSeeGlobalInfo</a>( <a class="code" href="SoccerTypes_8h.html#a240a24">OBJECT_BALL</a>, time, <a class="code" href="classVecPosition.html">VecPosition</a>( 0, 0 ),
00466              <a class="code" href="classVecPosition.html">VecPosition</a>( 0, 0 ), 0, 0 );        
00467       }
00468       <font class="keywordflow">else</font> <font class="keywordflow">if</font>( rm == <a class="code" href="SoccerTypes_8h.html#a243a168">REFC_GOALIE_CATCH_BALL_LEFT</a> ||         <font class="comment">// catch ball</font>
00469                rm == <a class="code" href="SoccerTypes_8h.html#a243a169">REFC_GOALIE_CATCH_BALL_RIGHT</a> )
00470         <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a95">processCatchedBall</a>( rm, time );
00471       <font class="keywordflow">break</font>;
00472     <font class="keywordflow">case</font> <font class="charliteral">'s'</font>:                                               <font class="comment">// self</font>
00473       <font class="keywordflow">break</font>;                                                <font class="comment">// do nothing</font>
00474     <font class="keywordflow">default</font>:                                                <font class="comment">// from direction</font>
00475         <a class="code" href="classSenseHandler.html#a9">analyzePlayerMessage</a>( strMsg );                     <font class="comment">// from player</font>
00476       <font class="keywordflow">break</font>;
00477   }
00478 
00479   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00480 }
00481 
<a name="l00493"></a><a class="code" href="classSenseHandler.html#a9">00493</a> <font class="keywordtype">bool</font> <a class="code" href="classSenseHandler.html#a9">SenseHandler::analyzePlayerMessage</a>( <font class="keywordtype">char</font> *strMsg )
00494 {
00495   <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg );        <font class="comment">// skip direction</font>
00496   <a class="code" href="classParse.html#d4">Parse::gotoFirstNonSpace</a>( &amp;strMsg );    <font class="comment">// skip space</font>
00497   strMsg++;                               <font class="comment">// skip " (=quote)</font>
00498 
00499   <font class="comment">// first character is team side</font>
00500   <font class="keywordtype">char</font> cSide = (<a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a16">getSide</a>() == <a class="code" href="SoccerTypes_8h.html#a246a177">SIDE_LEFT</a>) ? <font class="charliteral">'l'</font> : <font class="charliteral">'r'</font> ;
00501 
00502   <font class="keywordflow">if</font>( cSide != strMsg[0] )                <font class="comment">// not team side probably msg from opp</font>
00503     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00504 
00505   strMsg++;                              <font class="comment">// go to next</font>
00506 
00507   <font class="keywordflow">if</font>( strlen(strMsg) &lt; 7    ||           <font class="comment">// encoding always at least 7 chars</font>
00508       strMsg[0]      &lt; <font class="charliteral">'a'</font>  ||           <font class="comment">// and between 'a' and 'a' + 9 since</font>
00509       strMsg[0]      &gt; <font class="charliteral">'a'</font>+ 9 )          <font class="comment">// it is a number added to 'a'.</font>
00510     <font class="keywordflow">return</font> <font class="keyword">false</font>;                        <font class="comment">// not right -&gt; message from opponent</font>
00511 
00512   <font class="keywordtype">int</font> i[4];                              <font class="comment">// decode message by subracting</font>
00513   i[0] =        (int)(strMsg[0] - <font class="charliteral">'a'</font>);  <font class="comment">// string 'acegi' from message.</font>
00514   i[1] =        (int)(strMsg[1] - <font class="charliteral">'c'</font>);  <font class="comment">// resulting number indicate cycle and</font>
00515   i[2] =        (int)(strMsg[2] - <font class="charliteral">'e'</font>);  <font class="comment">// player number.</font>
00516   i[3] =        (int)(strMsg[3] - <font class="charliteral">'g'</font>);
00517   <font class="keywordtype">int</font> iPlayer = (int)(strMsg[4] - <font class="charliteral">'i'</font>);
00518 
00519   <font class="keywordtype">int</font> iTime = i[0]*1000+i[1]*100+i[2]*10+i[3];
00520 
00521   <font class="keywordtype">int</font>    iDiff = iTime - <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a5">getCurrentCycle</a>()%10000;
00522   <font class="keywordtype">double</font> dDiff = iDiff/100;
00523 
00524   <font class="keywordflow">if</font>( fabs(iDiff) &gt; 2 &amp;&amp; strMsg[0] != <font class="charliteral">'F'</font> )
00525   {
00526     printf( <font class="stringliteral">"(SenseHandler::%s) information is outdated:%d %d in:"</font>,
00527                       __FUNCTION__, iTime, <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a5">getCurrentCycle</a>() );
00528     printf( <font class="stringliteral">"%s\n"</font>, <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#m5">strLastHearMessage</a> );
00529     <font class="keywordflow">return</font> <font class="keyword">false</font>;
00530   }
00531 
00532   <font class="comment">// is message from teammate, so start retrieving information</font>
00533   <a class="code" href="classVecPosition.html">VecPosition</a> pos, vel;
00534   <font class="keywordtype">double</font>      dConf;
00535   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a>     obj;
00536 
00537   <font class="comment">// parse information from player that sent the message</font>