smonitor_dev.c

robocup rcssmonitor-11.1.1.zip

/*
 * Copyright (c) 1999 - 2001, Artur Merke <[e-mail]>
 *
 * This file is part of FrameView2d.
 *
 * FrameView2d 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, or (at your option)
 * any later version.
 *
 * FrameView2d 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 FrameView2d; see the file COPYING.  If not, write to
 * the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
 */
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "smonitor_dev.h"
#include "global_defs.h"

#include <boost/cstdint.hpp>

#ifdef HAVE_SSTREAM
#include <sstream>
#else
#include <strstream>
#endif


#include <iostream>
#include <iomanip>
#include <cstdio>      /* Standard I/O definitions. */
#include <cstdlib>     /* Standard C Library definitions. */
#include <cstring>     /* C Library string functions. */
#include <cctype>      /* isprint(...) */

#include <netinet/in.h> /* wegen htons(...)*/
#include <cmath>

//#include "object2d.h"
#include "rgb_db.h"
#include "ascii_processor.h"
#include "str2val.h"
//#include "tools.h"

//#define DEBUG(XXX) cout << "\ndebug(" << __LINE__ << "):" XXX << flush
#define DEBUG(XXX)

typedef boost::int16_t Int16;
typedef boost::int32_t Int32;

//#define WEBFIELD 1 //just a macro which doesn't show the menu and the players (for the NetPlayer)
/*****************************************************************************
 \short soccerserver parameters (version 1 and 2)

 This part contains server specific data types, which are taken from the files
   - sserver-6.XX/server/param.h
   - sserver-6.XX/server/utility
 and for the extension for protocol version 2
   - sserver-7.00/server/param.h
   - sserver-7.00/server/utility
*/
namespace SSrv {
// from  utility.h
#define PI M_PI

// from param.h

#define SHOWINFO_SCALE          16.0
#define SHOWINFO_SCALE2         65536.0 //ver. 2
#define SHOWINFO_SCALE2_int     65536   //art!

#define NO_INFO         0  //ver. 2
#define SHOW_MODE       1
#define MSG_MODE        2
#define DRAW_MODE       3
#define BLANK_MODE      4
#define PM_MODE         5  //ver. 2
#define TEAM_MODE       6  //ver. 2
#define PT_MODE         7  //ver. 2
#define PARAM_MODE      8  //ver. 2
#define PPARAM_MODE     9  //ver. 2
#define FRAMEVIEW_MODE  10 //art!!!

#define DrawClear       0
#define DrawPoint       1
#define DrawCircle      2
#define DrawLine        3
#define MSG_BOARD       1
#define LOG_BOARD       2

//#define MAX_PLAYER 11

#define	DISABLE			0x0000
#define	STAND			0x0001
#define	KICK			0x0002
#define KICK_FAULT		0x0004
#define	GOALIE			0x0008
#define CATCH			0x0010
#define CATCH_FAULT		0x0020
#define BALL_TO_PLAYER          0x0040
#define PLAYER_TO_BAL           0x0080
#define DISCARD                 0x0100
#define BALL_COLLIDE            0x0400 // player collided with the ball
#define PLAYER_COLLIDE          0x0800 // player collided with another player
#define TACKLE       0x1000
#define TACKLE_FAULT 0x2000
#define BACK_PASS 0x4000
#define FREE_KICK_FAULT 0x8000

#define PLAYMODE_STRINGS {"",\
                        "before_kick_off",\
                        "time_over",\
                        "play_on",\
                        "kick_off_l",\
                        "kick_off_r",\
                        "kick_in_l",\
                        "kick_in_r",\
                        "free_kick_l",\
                        "free_kick_r",\
                        "corner_kick_l",\
                        "corner_kick_r",\
                        "goal_kick_l",\
                        "goal_kick_r",\
                        "goal_l",\
                        "goal_r",\
                        "drop_ball",\
                        "offside_l",\
                        "offside_r",\
                        "penalty_kick_l",\
                        "penalty_kick_r",\
                        "first_half_over",\
                        "pause",\
                        "human_judge",\
                        "foul_charge_l",\
                        "foul_charge_r",\
                        "foul_push_l",\
                        "foul_push_r",\
                        "foul_multiple_attack_l",\
                        "foul_multiple_attack_r",\
                        "foul_ballout_l",\
                        "foul_ballout_r",\
                        "back_pass_l", \
                        "back_pass_r", \
                        "free_kick_fault_l", \
                        "free_kick_fault_r", \
      "catch_fault_l", \
      "catch_fault_r", \
      "indirect_free_kick_l", \
      "indirect_free_kick_r",\
      "penalty_setup_l", \
      "penalty_setup_r",\
      "penalty_ready_l",\
      "penalty_ready_r", \
      "penalty_taken_l", \
      "penalty_taken_r", \
      "penalty_miss_l", \
      "penalty_miss_r", \
      "penalty_score_l", \
      "penalty_score_r" \
                }

const int PLAYMODE_STRINGS_SIZE = 36 + 14;

#define	COLOR_NAME_MAX	64

typedef struct {
	Int16	enable ;
	Int16	side ;
	Int16	unum ;
	Int16	angle ;
	Int16	x ;
	Int16	y ;
} pos_t ;

typedef struct {
	char	name[16] ;
	Int16	score ;
} team_t ;

typedef struct {
	char	pmode ;
	team_t	team[2] ;
	pos_t	pos[MAX_PLAYER * 2 + 1] ;
	Int16	time ;
} showinfo_t ;

typedef	struct {
	Int16	board ;
	char	message[2048] ;
} msginfo_t ;

typedef struct {
	Int16	x ;
	Int16	y ;
	char	color[COLOR_NAME_MAX] ;
} pointinfo_t ;

typedef struct {
	Int16	x ;
	Int16	y ;
	Int16	r ;
	char	color[COLOR_NAME_MAX] ;
} circleinfo_t ;

typedef struct {
	Int16	x1 ;
	Int16	y1 ;
	Int16	x2 ;
	Int16	y2 ;
	char	color[COLOR_NAME_MAX] ;
} lineinfo_t ;

typedef struct {
	Int16 mode ;
	union {
		pointinfo_t		pinfo ;
		circleinfo_t	cinfo ;
		lineinfo_t		linfo ;
	} object ;
} drawinfo_t ;

typedef struct {
	Int16	mode ;
	union {
		showinfo_t	show ;
		msginfo_t	msg ;
		drawinfo_t	draw ;
	} body ;
} dispinfo_t ;


typedef struct {
  Int32 x;
  Int32 y;
  Int32 deltax;
  Int32 deltay;
} ball_t;

typedef struct {
  Int16 mode;
  Int16 type;
  Int32 x;
  Int32 y;
  Int32 deltax;
  Int32 deltay;
  Int32 body_angle;
  Int32 head_angle;
  Int32 view_width;
  Int16 view_quality;
  Int32 stamina;
  Int32 effort;
  Int32 recovery;
  Int16 kick_count;
  Int16 dash_count;
  Int16 turn_count;
  Int16 say_count;
  Int16 tneck_count;
  Int16 catch_count;
  Int16 move_count;
  Int16 chg_view_count;
} player_t;

typedef struct {
  char          pmode ;
  team_t        team[2] ;
  ball_t        ball;
  player_t      pos[MAX_PLAYER * 2] ;
  Int16         time ;
} showinfo_t2 ;

typedef struct {
    Int16 id;
    Int32 player_speed_max;
    Int32 stamina_inc_max;
    Int32 player_decay;
    Int32 inertia_moment;
    Int32 dash_power_rate;
    Int32 player_size;
    Int32 kickable_margin;
    Int32 kick_rand;
    Int32 extra_stamina;
    Int32 effort_max;
    Int32 effort_min;

  // spare variables which are to be used for paramenter added in the future
    Int32 sparelong1;
    Int32 sparelong2;
    Int32 sparelong3;
    Int32 sparelong4;
    Int32 sparelong5;
    Int32 sparelong6;
    Int32 sparelong7;
    Int32 sparelong8;
    Int32 sparelong9;
    Int32 sparelong10;
} player_type_t;

typedef struct
{
    Int32 gwidth ;					/* goal width */
    Int32 inertia_moment ;			/* intertia moment for turn */
    Int32 psize ;					/* player size */
    Int32 pdecay ;					/* player decay */
    Int32 prand ;					/* player rand */
    Int32 pweight ;					/* player weight */
    Int32 pspeed_max ;				/* player speed max */
    // th 6.3.00
    Int32 paccel_max ;				/* player acceleration max */
    //
    Int32 stamina_max ;				/* player stamina max */
    Int32 stamina_inc ;				/* player stamina inc */
    Int32 recover_init ;			/* player recovery init */
    Int32 recover_dthr ;			/* player recovery decriment threshold */
    Int32 recover_min ;				/* player recovery min */
    Int32 recover_dec ;				/* player recovery decriment */
    Int32 effort_init ;				/* player dash effort init */
    Int32 effort_dthr ;				/* player dash effort decriment threshold */
    Int32 effort_min ;				/* player dash effrot min */
    Int32 effort_dec ;				/* player dash effort decriment */
    Int32 effort_ithr ;				/* player dash effort incriment threshold */
    Int32 effort_inc ;				/* player dash effort incriment */
    // pfr 8/14/00: for RC2000 evaluation
    Int32 kick_rand;                                /* noise added directly to kicks */
    Int16 team_actuator_noise;                        /* flag whether to use team specific actuator noise */
    Int32 prand_factor_l;                           /* factor to multiple prand for left team */
    Int32 prand_factor_r;                           /* factor to multiple prand for right team */
    Int32 kick_rand_factor_l;                       /* factor to multiple kick_rand for left team */
    Int32 kick_rand_factor_r;                       /* factor to multiple kick_rand for right team */

    Int32 bsize ;					/* ball size */
    Int32 bdecay ;					/* ball decay */
    Int32 brand ;					/* ball rand */
    Int32 bweight ;					/* ball weight */
    Int32 bspeed_max ;				/* ball speed max */
    // th 6.3.00
    Int32 baccel_max;				/* ball acceleration max */
    //
    Int32 dprate ;					/* dash power rate */
    Int32 kprate ;					/* kick power rate */
    Int32 kmargin ;					/* kickable margin */
    Int32 ctlradius ;				/* control radius */
    Int32 ctlradius_width ;			/* (control radius) - (plyaer size) */
    Int32 maxp ;					/* max power */
    Int32 minp ;					/* min power */
    Int32 maxm ;					/* max moment */
    Int32 minm ;					/* min moment */
    Int32 maxnm ;					/* max neck moment */
    Int32 minnm ;					/* min neck moment */
    Int32 maxn ;					/* max neck angle */
    Int32 minn ;					/* min neck angle */
    Int32 visangle ;				/* visible angle */
    Int32 visdist ;					/* visible distance */
    Int32 windir ;					/* wind direction */
    Int32 winforce ;				/* wind force */
    Int32 winang ;					/* wind angle for rand */
    Int32 winrand ;					/* wind force for force */
    Int32 kickable_area ;			/* kickable_area */
    Int32 catch_area_l ;			/* goalie catchable area length */
    Int32 catch_area_w ;			/* goalie catchable area width */
    Int32 catch_prob ;				/* goalie catchable possibility */
    Int16   goalie_max_moves;                 /* goalie max moves after a catch */
    Int32 ckmargin ;				/* corner kick margin */
    Int32 offside_area ;			/* offside active area size */
    Int16 win_no ;					/* wind factor is none */
    Int16 win_random ;				/* wind factor is random */
    Int16 say_cnt_max ;				/* max count of coach SAY */
    Int16 SayCoachMsgSize ;				/* max length of coach SAY */
    Int16 clang_win_size;
    Int16 clang_define_win;
    Int16 clang_meta_win;
    Int16 clang_advice_win;
    Int16 clang_info_win;
    Int16 clang_mess_delay;
    Int16 clang_mess_per_cycle;
    Int16 half_time ;					/* half time */
    Int16 sim_st ;					/* simulator step interval msec */
    Int16 send_st ;					/* udp send step interval msec */
    Int16 recv_st ;					/* udp recv step interval msec */
    Int16 sb_step ;					/* sense_body interval step msec */
    Int16 lcm_st ;		                        /* lcm of all the above steps msec */
    Int16 SayMsgSize ;				/* string size of say message */
    Int16 hear_max ;					/* player hear_capacity_max */
    Int16 hear_inc ;					/* player hear_capacity_inc */
    Int16 hear_decay ;				/* player hear_capacity_decay */
    Int16 cban_cycle ;				/* goalie catch ban cycle */
    Int16 slow_down_factor ;                          /* factor to slow down simulator and send intervals */
    Int16 useoffside ;				/* flag for using off side rule */
    Int16 kickoffoffside ;			/* flag for permit kick off offside */
    Int32 offside_kick_margin ;		/* offside kick margin */
    Int32 audio_dist ;				/* audio cut off distance */
    Int32 dist_qstep ;				/* quantize step of distance */
    Int32 land_qstep ;				/* quantize step of distance for landmark */
    Int32 dir_qstep ;				/* quantize step of direction */
    Int32 dist_qstep_l ;			/* team right quantize step of distance */
    Int32 dist_qstep_r ;			/* team left quantize step of distance */
    Int32 land_qstep_l ;			/* team right quantize step of distance for landmark */
    Int32 land_qstep_r ;			/* team left quantize step of distance for landmark */
    Int32 dir_qstep_l ;				/* team left quantize step of direction */
    Int32 dir_qstep_r ;				/* team right quantize step of direction */
    Int16 CoachMode ;				/* coach mode */
    Int16 CwRMode ;					/* coach with referee mode */
    Int16 old_hear ;					/* old format for hear command (coach) */
    Int16 sv_st ;					/* online coach's look interval step */


  // spare variables which are to be used for paramenter added in the future
  Int32 sparelong1;
  Int32 sparelong2;
  Int32 sparelong3;
  Int32 sparelong4;
  Int32 sparelong5;
  Int32 sparelong6;
  Int32 sparelong7;
  Int32 sparelong8;
  Int32 sparelong9;
  Int32 sparelong10;

  Int16 spareshort1;
  Int16 spareshort2;
  Int16 spareshort3;
  Int16 spareshort4;
  Int16 spareshort5;
  Int16 spareshort6;
  Int16 spareshort7;