client2dview.c

robocup rcssmonitor-11.1.1.zip

#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <fstream>
#include "udpsocket.h"
#include "tcpsocket.h"
#include "valueparser.h"
//#include "randomize.h"
#include "global_defs.h"
#include "angle.h"

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

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

#include <unistd.h> // wegen {u}sleep()

void move_frame_5(UDPsocket & sock) {
#ifdef HAVE_SSTREAM
  std::ostringstream o;
#else
  std::ostrstream o;
#endif

  while (true)
    for (int t=1; t<= 50; t++) {
      usleep(100000);
      o << "MOV 5 (" <<  20 << "," << t << ");";
#ifdef HAVE_SSTREAM
      sock.send_msg( o.str().c_str(), o.str().length() );
#else
      o << std::ends;
      sock.send_msg( o.str(), strlen( o.str() ) );
      o.freeze( false );
#endif
    }
}

void move_ascii_tree_input(UDPsocket & sock) {
  //init_drand();
  float angle[10];
  const float a= 0.22;
  const float b= 0.36;
  const float c= 0.46;

  float range[10][2]= { { a,-a},
		       {0.78+b,0.78-b},{b,-b},{-0.78+b,-0.78-b},
		       {0.52+c,0.52-c},{-0.52+c,-0.52-c},
		       {0.52+c,0.52-c},{-0.52+c,-0.52-c},
		       {0.52+c,0.52-c},{-0.52+c,-0.52-c} };

  for (int i=0; i<10; i++)
    angle[i]= 0.5*( range[i][0]+range[i][1] );

#ifdef HAVE_SSTREAM
  std::ostringstream o;
#else
  std::ostrstream o;
#endif
  for (;;)
    for (int t=1; t<= 50; t++) {
      usleep(100000);
      for (int i=0; i< 10; i++) {
        float max= range[i][0];
        float min= range[i][1];
        float ang;
        //ang= min + (max-min)*float(t)/50.0;
        ang= angle[i];
        float s= drand48();
        if (s < 0.5)
          s= (max-min)/50.0;
        else
          s= -(max-min)/50.0;
        ang+= s;
        if (ang > max)
          ang= max;
        else if (ang < min)
          ang= min;
        o << "MOV " << i+1 << "(" <<  ang  << ");";
        angle[i]= ang;
      }
#ifdef HAVE_SSTREAM
      sock.send_msg( o.str().c_str(), o.str().length() );
#else
      o << std::ends;
      sock.send_msg( o.str(), strlen( o.str() ) );
      o.freeze( false );
#endif
    }
}


void loop_input(UDPsocket & sock) {
  for (;;)
    for (int t=1; t<= 50; t++) {
      usleep(50000);
#ifdef HAVE_SSTREAM
  std::ostringstream o;
#else
  std::ostrstream o;
#endif
      o << "MOV 1 (" << 6.28 * float(t)/50 << ")" ;
#ifdef HAVE_SSTREAM
      sock.send_msg( o.str().c_str(), o.str().length() );
#else
      o << std::ends;
      sock.send_msg( o.str(), strlen( o.str() ) );
      o.freeze( false );
#endif
    }
}

void file_input(UDPsocket & sock, const char * fname) {
  std::ifstream  in(fname);
  if (!in) {
    std::cerr << "\nproblems with reading file " << fname;
    exit(1);
  }
  char send_buffer[1026];
  send_buffer[0]= '[';
  send_buffer[1]= ']';

  char *buffer= send_buffer+2;

  while ( in ) {
    in.getline(buffer,1023);
    char *dum= buffer;
    while (*dum == ' ')
      dum++;
    if (*dum == '#' || *dum == '\0')
      continue;
    std::cout << "\nsending \"" << send_buffer << "\"";
    sock.send_msg(send_buffer,strlen(send_buffer));
  }
}

void file_input_over_tcp(const char * fname) {
  TCPsocket tcp_sock;
  if ( !TCPutils::init_client("localhost",20000,tcp_sock) )
  //if ( !TCPutils::init_client("robocup7",20000,tcp_sock) )
    return;

  std::ifstream  in(fname);
  if (!in) {
    std::cerr << "\nproblems with reading file " << fname;
    tcp_sock.close();
    exit(1);
  }
  char send_buffer[1026];
#if 0
  send_buffer[0]= '[';
  send_buffer[1]= ']';
  char *buffer= send_buffer+2;
#else
  char *buffer= send_buffer;
#endif

  while ( in ) {
    in.getline(buffer,1023);
    char *dum= buffer;
    while (*dum == ' ')
      dum++;
    if (*dum == '#' || *dum == '\0')
      continue;
    std::cout << "\nsending \"" << send_buffer << "\"";
    tcp_sock.send_msg(send_buffer,strlen(send_buffer));
  }
  std::cout << "\nTCP SEND END" << std::flush;
  tcp_sock.close();
}

void command_line_input(UDPsocket & sock) {
  char buffer[1024];
  while (1) {
    std::cout << "\n>";
    std::cin.getline(buffer,1023);
    if (*buffer== 'q')
      return;
    else {
      std::cout << "\nsending \"" << buffer << "\"";
      sock.send_msg(buffer,strlen(buffer));
    }
  }
}

void middle_size_input(UDPsocket & sock) {

}

#define HALMA
#ifdef HALMA
const int initialGrid[19][19]=
  {
        /* ------                    columns                ---------- */
             /* 0  1  2  3  4  5  6  7  8  9  0  1  2  3  4  5  6  7  8 */
    /*   0 */  {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1},
    /*   1 */  {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, 2,-1,-1,-1,-1,-1},
    /*   2 */  {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, 2, 2,-1,-1,-1,-1,-1},
    /* r 3 */  {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, 2, 2, 2,-1,-1,-1,-1,-1},
    /* o 4 */  {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, 2, 2, 2, 2,-1,-1,-1,-1,-1},
    /* w 5 */  {-1,-1,-1,-1,-1, 0, 0, 0, 0, 2, 2, 2, 2, 2, 0, 0, 0, 0,-1},
    /* s 6 */  {-1,-1,-1,-1,-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-1,-1},
    /*   7 */  {-1,-1,-1,-1,-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-1,-1,-1},
    /*   8 */  {-1,-1,-1,-1,-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-1,-1,-1,-1},
    /*   9 */  {-1,-1,-1,-1,-1, 0, 0, 0, 0, 0, 0, 0, 0, 0,-1,-1,-1,-1,-1},
    /*   0 */  {-1,-1,-1,-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-1,-1,-1,-1,-1},
    /*   1 */  {-1,-1,-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-1,-1,-1,-1,-1},
    /*   0 */  {-1,-1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,-1,-1,-1,-1,-1},
    /*   3 */  {-1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0,-1,-1,-1,-1,-1},
    /*   4 */  {-1,-1,-1,-1,-1, 1, 1, 1, 1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1},
    /*   5 */  {-1,-1,-1,-1,-1, 1, 1, 1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1},
    /*   6 */  {-1,-1,-1,-1,-1, 1, 1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1},
    /*   7 */  {-1,-1,-1,-1,-1, 1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1},
    /*   8 */  {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}
  };

class HalmaBoard  {
  int XCENTER;  // Zentrum des Spielbrettes
  int YCENTER;  //
  int chRadius; //radius of a checker

  static const int BSIZE   = 19;
 public:
  HalmaBoard(int size);
  void MatrixRC_2_ScreenXY(int row, int col, double & x, double & y);
};

HalmaBoard::HalmaBoard(int size) {
  XCENTER = 0;  //300
  YCENTER = 0;  //350
  chRadius = size/35;
}

void HalmaBoard::MatrixRC_2_ScreenXY(int row, int col, double & x, double & y) {
  int LY_offset, LX_offset;
  int bx= col;
  int by= row;

  LX_offset = ( bx - 9 );
  LY_offset = ( by - 9 );

  x = XCENTER + LX_offset * 2*chRadius + LY_offset * chRadius;
  y = YCENTER - LY_offset * 2*chRadius;
}

void halma_input(UDPsocket & sock) {
  HalmaBoard hb(100);

#define c_black "000000"
#define c_red   "ff0000"
#define c_blue  "0000ff"
#define c_green "00ff00"
  char color[7][8] = { c_black, c_red, c_blue , c_green, c_red, c_blue,  c_black};

#ifdef HAVE_SSTREAM
  std::ostringstream o;
#else
  std::ostrstream o;
#endif
  int num_circles= 0;
  //field
  o << "VA (0,0,80,80); EMP 0;";
  o << "\nINS CIRCLE col=" << c_black << " ";
  for (int row=0; row < 19; row++)
    for (int col=0; col < 19; col++) {
      double cx,cy;
      hb.MatrixRC_2_ScreenXY(row,col,cx,cy);
      const int idx= initialGrid[row][col];
      if ( idx >= 0) {
        o << "\n  (" << cx << "," << cy << "," << 100.0/55.0 << ")";
        num_circles++;
      }
    }
  o << ";";
#if 1
  for (int row=0; row < 19; row++)
    for (int col=0; col < 19; col++) {
      double cx,cy;
      hb.MatrixRC_2_ScreenXY(row,col,cx,cy);
      const int idx= initialGrid[row][col];
      if ( idx > 0) {
        int frame= row*19+col+1;
        o << "\nINS FRAME id=" << frame << " (" << cx << "," << cy << ");"
          << "\n  INS " << frame << " CIRCLE fil=1 col=" << color[idx] << " (0,0," << 100.0/60.0 <<");";
      }
    }
#endif

#ifdef HAVE_SSTREAM
      sock.send_msg( o.str().c_str(), o.str().length() );
      std::cout << o.str();
      std::cout << "\nsize= " << o.str().length() << ", num_circles= " << num_circles << std::endl;
#else
      o << std::ends;
      sock.send_msg( o.str(), strlen( o.str() ) );
      std::cout << o.str();
      std::cout << "\nsize= " << strlen( o.str() ) << ", num_circles= " << num_circles << std::endl;
      o.freeze( false );
#endif


  o.seekp(0);
  o << "\nINS CIRCLE col=  cccccc";
  for (int row=0; row < 19; row++)
    for (int col=0; col < 19; col++) {
      double cx,cy;
      hb.MatrixRC_2_ScreenXY(row,col,cx,cy);
      const int idx= initialGrid[row][col];
      if ( idx < 0) {
        o << "\n  (" << cx << "," << cy << "," << 100.0/55.0 << ")";
        num_circles++;
      }
    }
  o << ";" << std::ends;
#ifdef HAVE_SSTREAM
      sock.send_msg( o.str().c_str(), o.str().length() );
#else
      o << std::ends;
      sock.send_msg( o.str(), strlen( o.str() ) );
      o.freeze( false );
#endif

}

#endif

#ifdef HAVE_LINUX_JOYSTICK_H
#include <linux/joystick.h>
#include <sys/ioctl.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include "vector2d.h"

class Robot {

public:
    virtual ~Robot() { }

  int frame;
  virtual void read_joystick(int num_axes, int * axis) { }
  virtual void print_pos(std::ostream &) { }
  virtual void print_skin(std::ostream &)= 0;
};