smonitor_dev.c

robocup rcssmonitor-11.1.1.zip

const int SMonitorDevice::BUTTON_SCALE_LEVEL= 2;
const int SMonitorDevice::BUTTON_INFO_LEVEL= 3;
const int SMonitorDevice::BUTTON_MODE= 4;
const int SMonitorDevice::BUTTON_UNZOOM= 5;
const int SMonitorDevice::BUTTON_QUIT= 6;
const int SMonitorDevice::BUTTON_NUMBER= 7;

const int SMonitorDevice::POPUP_BUTTON_DROP_BALL= 0;
const int SMonitorDevice::POPUP_BUTTON_FREE_KICK_LEFT= 1;
const int SMonitorDevice::POPUP_BUTTON_FREE_KICK_RIGHT= 2;
const int SMonitorDevice::POPUP_BUTTON_NUMBER= 3;


const int SMonitorDevice::Options::info_level_min= 0;
const int SMonitorDevice::Options::info_level_def= 1;
const int SMonitorDevice::Options::info_level_max= 3;

const int SMonitorDevice::Options::scale_level_min= 0;
const int SMonitorDevice::Options::scale_level_def= 0;
const int SMonitorDevice::Options::scale_level_max= 5;
const double SMonitorDevice::Options::scale_level_inc= 0.2;
const double SMonitorDevice::Options::scale_level_beg= 1.0;

const int SMonitorDevice::Options::MODE_STANDARD= 0;
const int SMonitorDevice::Options::MODE_MOVE= 1;
const int SMonitorDevice::Options::MODE_SHOW_VIEW_AREA= 2;


const int SMonitorDevice::id_ball= -1;
const int SMonitorDevice::id_invalid= -2;


SMonitorDevice::Options::Options() {
  server_port= 6000;
  strcpy(server_host,"localhost");
  coach_port= server_port+1;
  protocol_version= 2;
  connect_on_start= true;

  keepaway = false;
  keepaway_length = 20.0;
  keepaway_width = 20.0;

  list_player_types= false;
  show_ball_collisions= false;
  just_edit= false;
  track_ball= false;
  show_ball_vel= false;

  player_radius= 0.3;
  player_skin= 1;
  kick_radius= 1.085;
  ball_radius= 0.3;//0.085;
  ball_skin= 1;


  c_team_l= RGBcolor(255,255,0);
  c_goalie_l= RGBcolor(0,255,0);
  c_font_l= RGBcolor(255,0,0);//(255,0,0);
  c_invalid_l= RGBcolor(0,0,0);

  c_team_r= RGBcolor(0,255,255);
  c_goalie_r= RGBcolor(255,153,255);
  c_font_r= RGBcolor(0,0,139); //(0,255,0);//(255,0,0);
  c_invalid_r= RGBcolor(0,0,0);


  c_ball= RGBcolor(255,255,255);
  c_field= RGBcolor(0,153,0);//(153,204,51); //(204,204,204);
  c_marigin= RGBcolor(204,51,51);
  c_line= RGBcolor(255,255,255);
  c_goal= RGBcolor(0,0,0);

  c_varea_exact= RGBcolor(0,180,0); // 0, 0xB4, 0
  c_varea_fuzzy= RGBcolor(0,170,0); // 0, 0xAA, 0

  info_level= info_level_def;
  scale_level= scale_level_def;

  mode= MODE_STANDARD;
  //mode= MODE_SHOW_VIEW_AREA;
  active_in_mode= id_invalid;

  lt_show_spare_space_to_offside_line= false;
  rt_show_spare_space_to_offside_line= false;
}

double SMonitorDevice::Options::scale_factor() const {
  return scale_level_beg + scale_level * scale_level_inc;
}

bool SMonitorDevice::Options::set_scale_level_from_double(double s) {
  for (int i=scale_level_max; i >= 0; i--)
    if ( s >=  scale_level_beg + i * scale_level_inc - 0.0001) {
      scale_level=  i;
      return true;
    }
  scale_level= scale_level_min;
  return true;
}

const char * SMonitorDevice::Options::get_mode_string() const {
  if (mode == MODE_STANDARD)
    return "mode std ";
  if (mode == MODE_MOVE)
    return "mode move";
  if (mode == MODE_SHOW_VIEW_AREA)
    return "mode view";
  return "mode ????";
}

const char * SMonitorDevice::Options::get_mode_value_string() const {
  if (mode == MODE_STANDARD)
    return "std";
  if (mode == MODE_MOVE)
    return "move";
  if (mode == MODE_SHOW_VIEW_AREA)
    return "view";
  return "????";
}

bool SMonitorDevice::Options::set_mode_from_string(const char * s) {
  if ( strcmp("std",s) == 0)
    mode= MODE_STANDARD;
  else if ( strcmp("move",s) == 0)
    mode= MODE_MOVE;
  else if ( strcmp("view",s) == 0)
    mode= MODE_SHOW_VIEW_AREA;
  else
    return false;
  return true;
}


SMonitorDevice::ServerState::ServerState() {
  reset();
}

void SMonitorDevice::ServerState::reset() {
  //last_packet_ms_time= -1;
  reconnected= true;
  left_teamname.reset();
  right_teamname.reset();
  match_information.reset();
}

void SMonitorDevice::Positions::set_player(int i,const Point2d & p,const Angle & a) {
  player[i].pos= p;
  player[i].body_angle= a;
}

bool SMonitorDevice::Positions::max_x_pos(int p1, int p2, double & x1) const {
  bool res= false;
  for (int i=p1; i < p2; i++) {
    const Player & p = player[i];
    if ( ! p.alive)
      continue;

    if (!res) {
      x1= p.pos.x;
      res= true;
    }
    else if ( p.pos.x > x1)
      x1= p.pos.x;
  }
  return res;
}

//copy of max_x_pos with > replaced by <
bool SMonitorDevice::Positions::min_x_pos(int p1, int p2, double & x1) const {
  bool res= false;
  for (int i=p1; i < p2; i++) {
    const Player & p = player[i];
    if ( ! p.alive)
      continue;

    if (!res) {
      x1= p.pos.x;
      res= true;
    }
    else if ( p.pos.x < x1)
      x1= p.pos.x;
  }
  return res;
}

bool SMonitorDevice::Positions::max_x_pos(int p1, int p2, double & x1, double & x2) const {
  int res= 0;
  for (int i=p1; i < p2; i++) {
    const Player & p = player[i];

    if (!p.alive)
      continue;

    if (res == 0) {
      x1= p.pos.x;
      res= 1;
    }
    else if (res == 1) {
      res= 2;
      if (p.pos.x > x1) {
	x2= x1;
	x1= p.pos.x;
      }
      else
	x2= p.pos.x;
    }
    else if ( p.pos.x > x2) {
      if ( p.pos.x > x1) {
	x2= x1;
	x1= p.pos.x;
      }
      else
	x2= p.pos.x;
    }
  }
  return (res==2);
}
//copy of max_x_pos with > replaced by <
bool SMonitorDevice::Positions::min_x_pos(int p1, int p2, double & x1, double & x2) const {
  int res= 0;
  for (int i=p1; i < p2; i++) {
    const Player & p = player[i];

    if (!p.alive)
      continue;

    if (res == 0) {
      x1= p.pos.x;
      res= 1;
    }
    else if (res == 1) {
      res= 2;
      if (p.pos.x < x1) {
	x2= x1;
	x1= p.pos.x;
      }
      else
	x2= p.pos.x;
    }
    else if ( p.pos.x < x2) {
      if ( p.pos.x < x1) {
	x2= x1;
	x1= p.pos.x;
      }
      else
	x2= p.pos.x;
    }
  }
  return (res==2);
}

void SMonitorDevice::Positions::print_inline(std::ostream & out) {
  int prec= 4;
  out << std::setprecision(prec) << ball.pos.x
      << " " << std::setprecision(prec) << ball.pos.y
      << " " << std::setprecision(prec) << ball.vel.x
      << " " << std::setprecision(prec) << ball.vel.y;
  for (int i= 0; i < MAX_PLAYER*2; i++)
    out << "    " << std::setprecision(prec) << player[i].pos.x
	<< " " << std::setprecision(prec) << player[i].pos.y
	<< " " << std::setprecision(prec) << player[i].body_angle.get_value()
	<< " 0 0"; // the velocity is 0
}

void SMonitorDevice::Positions::print_formation(std::ostream & out, bool left_half, bool left_team) {
  int start_idx= 0;
  double dum= 0.0;
  if (left_half) {
    out << "\n[left half";
    dum= 52.5;
  }
  else
    out << "\n[right half";

  if (left_team)
    out << ", left team]";
  else {
    out << ", right team]";
    start_idx= 11;
  }

  char buffer[200];
  for (int i= 1+start_idx; i< MAX_PLAYER+start_idx; i++) {
    float x= (player[i].pos.x + dum)/52.5;
    if (x<0.0) x= 0.0;
    if (x>1.0) x= 1.0;
    float y= (player[i].pos.y + 34.0)/68.0;
    if (y<0.0) y= 0.0;
    if (y>1.0) y= 1.0;
    sprintf(buffer,"\npos_%-2d = %.2f %.2f *",i-start_idx,x,y);
    out << buffer;
  }

  out << std::flush;
}
/*****************************************************************************/
/*****************************************************************************/
double x_SERVER_2_LP(double x) {
  return x;
}

double y_SERVER_2_LP(double y) {
  return -y;
}

double ang_SERVER_2_LP(double a) {
  a= (a*PI)/180.0;
  if (a < 0.0) return -a;
  return -a+2*PI;
}
/*****************************************************************************/
/*****************************************************************************/

SMonitorDevice::SMonitorDevice()
    : timeover( false )
{
  server_state.reset();
  //init_connection(); //vorlaeufig
}

void SMonitorDevice::generic_description_of_options(std::ostream & o, int mode) const {
  print_option_entry(o,mode,"port",options.server_port,"defines the socket port for communication");
  print_option_entry(o,mode,"host",options.server_host,"defines the host on which the soccer server is running");
  print_option_entry(o,mode,"version",options.protocol_version,"version of monitor <-> server protocol");
  print_option_entry(o,mode,"connect_on_start",options.connect_on_start,"if set then a connection to the server is established during the start");
  print_option_entry(o,mode,"keepaway",options.keepaway,"if set then the field will be laid out for a keepaway match");
  print_option_entry(o,mode,"keepaway_length",options.keepaway_length,"length of the keepaway region");
  print_option_entry(o,mode,"keepaway_width",options.keepaway_width,"width of the keepaway region");
  print_option_entry(o,mode,"list_player_types",options.list_player_types,"print all player types after a connection");
  print_option_entry(o,mode,"show_ball_collisions",options.show_ball_collisions,"show if a player collides with the  ball");
  print_option_entry(o,mode,"just_edit",options.just_edit,"don't connect to the soccer server");
  print_option_entry(o,mode,"scale",options.scale_factor(),"factor all player's and the ball sizes are multiplied by");
  print_option_entry(o,mode,"detail",options.info_level,"level of player information such as his number, stamina and type");
  print_option_entry(o,mode,"mode",options.get_mode_value_string(),"initial mode to use");
  print_option_entry(o,mode,"player_radius",options.player_radius,"default inner player radius (if server doesn't provide type info)");
  print_option_entry(o,mode,"kick_radius",options.kick_radius,"default outer player radius (if server doesn't provide type info)");
  print_option_entry(o,mode,"player_num_pos_x",options.player_num_pos.x,"x position of player number relative to player's center");
  print_option_entry(o,mode,"player_num_pos_y",options.player_num_pos.y,"y position of player number relative to player's center");

  print_option_entry(o,mode,"ball_radius",options.ball_radius,"define how large the inner circle of the ball should be");
  o << "\n";
  print_option_entry(o,mode,"c_team_l",options.c_team_l,"color of left team players");
  print_option_entry(o,mode,"c_goalie_l",options.c_goalie_l,"color of left goalie");
  print_option_entry(o,mode,"c_font_l",options.c_font_l,"color of left team number strings");
  print_option_entry(o,mode,"c_team_r",options.c_team_r,"color of right team players");
  print_option_entry(o,mode,"c_goalie_r",options.c_goalie_r,"color of right goalie");
  print_option_entry(o,mode,"c_font_r",options.c_font_r,"color of right team number strings");
  print_option_entry(o,mode,"c_ball",options.c_ball,"color of the ball");
  print_option_entry(o,mode,"c_field",options.c_field,"color of the soccer field");
  print_option_entry(o,mode,"c_line",options.c_line,"color of the soccer field lines");
  print_option_entry(o,mode,"c_goal",options.c_goal,"color of the soccer field goals");
  print_option_entry(o,mode,"c_varea_exact",options.c_varea_exact,"color of the exact view area");
  print_option_entry(o,mode,"c_varea_fuzzy",options.c_varea_fuzzy,"color of the fuzzy view area");
  o << "\n";
}

bool SMonitorDevice::process_options(const ValueParser & vp) {
  double tmp_double;
  int res;

  vp.get("port", options.server_port);
  vp.get("host", options.server_host,STRING_MAX_SIZE);

#if USE_COACH
  vp.get("coach_port", options.coach_port);
#endif
  vp.get("version", options.protocol_version);
  vp.get("connect_on_start",options.connect_on_start);

  vp.get("keepaway",options.keepaway);
  vp.get("keepaway_length",options.keepaway_length);
  vp.get("keepaway_width",options.keepaway_width);

  vp.get("list_player_types",options.list_player_types);
  vp.get("show_ball_collisions",options.show_ball_collisions);
  vp.get("just_edit",options.just_edit);

  res= vp.get("scale",tmp_double);
  if ( res == 1 )
    options.set_scale_level_from_double(tmp_double);

  vp.get("detail", options.info_level);
  if (options.info_level < options.info_level_min)
    options.info_level= options.info_level_min;
  else if (options.info_level > options.info_level_max)
    options.info_level= options.info_level_max;

  char tmp_str[MAX_NAME_LEN];
  res= vp.get("mode",tmp_str,MAX_NAME_LEN);
  if ( res > 0 ) {
    std::cout << "\nsetting mode [" << tmp_str << "]";
    options.set_mode_from_string(tmp_str);
    std::cout << "\nnew mode: " << options.get_mode_string() << std::flush;
  }

  vp.get("player_radius",options.player_radius);
  vp.get("player_skin",options.player_skin);
  vp.get("kick_radius",options.kick_radius);
  vp.get("player_num_pos_x",options.player_num_pos.x);
  vp.get("player_num_pos_y",options.player_num_pos.y);
  vp.get("ball_radius",options.ball_radius);
  vp.get("ball_skin",options.ball_skin);

  char rgb_str[20];
  vp.get("c_team_l",rgb_str,20,'\0');   AsciiProcessor::get_col(rgb_str,options.c_team_l);
  vp.get("c_goalie_l",rgb_str,20,'\0'); AsciiProcessor::get_col(rgb_str,options.c_goalie_l);
  vp.get("c_font_l",rgb_str,20,'\0');   AsciiProcessor::get_col(rgb_str,options.c_font_l);

  vp.get("c_team_r",rgb_str,20,'\0');   AsciiProcessor::get_col(rgb_str,options.c_team_r);
  vp.get("c_goalie_r",rgb_str,20,'\0'); AsciiProcessor::get_col(rgb_str,options.c_goalie_r);
  vp.get("c_font_r",rgb_str,20,'\0');   AsciiProcessor::get_col(rgb_str,options.c_font_r);

  vp.get("c_ball",rgb_str,20,'\0');     AsciiProcessor::get_col(rgb_str,options.c_ball);
  vp.get("c_field",rgb_str,20,'\0');    AsciiProcessor::get_col(rgb_str,options.c_field);
  vp.get("c_marigin",rgb_str,20,'\0');  AsciiProcessor::get_col(rgb_str,options.c_marigin);
  vp.get("c_line",rgb_str,20,'\0');     AsciiProcessor::get_col(rgb_str,options.c_line);
  vp.get("c_goal",rgb_str,20,'\0');     AsciiProcessor::get_col(rgb_str,options.c_goal);

  vp.get("c_varea_exact",rgb_str,20,'\0'); AsciiProcessor::get_col(rgb_str,options.c_varea_exact);
  vp.get("c_varea_fuzzy",rgb_str,20,'\0'); AsciiProcessor::get_col(rgb_str,options.c_varea_fuzzy);

  if ( vp.num_of_not_accessed_entries() ) {
    ERROR_OUT << "\nSMonitorDevice: not recognized options:";
    vp.show_not_accessed_entries(ERROR_STREAM);
    return false;
  }

  return true;
}