readme

robocup rcssserver-11.1.2.zip

1/21/2001
Patrick Riley <[e-mail]>
part of the Soccer Server Maintenance Group <[e-mail]>

(release 3 README)

This is a small program which reads lines from standard in and tries
to parse them as messages in the coach language developed on the coach
list for the simulation league of RoboCup. The grammar for the
language is shown below. Please see the messages to the coach list for 
the semantics of the language.

You will need to change the Makefile by hand to match the system on
which you are running. It should be fairly obvious how this is done.
Note that after compiling this program, you may have to do a 'make
clean' in the server dir before you are able to compile the server
again.

The parser is built upon lex and bison (bison is the GNU replacement
for yacc). I have included the source files generated from bison and
lex, so you *may* not need those utilities to actually compile the
source. However, if you have problems, you should try 'make realclean; 
make' which will call lex and bison to regenerate the source files.

The parser builds a hierarchy of object to represent the message. These 
classes can be found in region.[Ch], coach_lang_comp.[Ch], and
coach_lang.[Ch]. These classes have quite limited functionality at the 
moment. I will be expanding them and releasing new versions later. It
is hoped that everyone will find these classes a useful way to get
started with the coach language quickly. If you make improvements to
this class hierarchy that you think many people would find useful,
please send them to me and/or the coach list so that we avoid
duplicating work.

The classes in garbage.[Ch] do a sort of manual garbage collection so
that memory is not leaked, even on parse errors. I have not
extensively tested this part of the system, so if you find what you
think are memory leaks, please let me know.

This is still a work in development. This parsing will be rolled into 
the main server code shortly. With this release, I hope to give
everyone a head start on using and understanding the coach language
and solicit any further comments.

Here the the grammar which is implemented (you can also look at the
coach_lang.y file for the bison version of this)

<MESSAGE> -> <INFO_MESS> | <ADVICE_MESS> | <META_MESS> | <DEFINE_MESS> | <FREEFORM_MESS>

#Advice and Info messages
<INFO_MESS> -> (info <TIME> <TOKEN_LIST>)
<ADVICE_MESS> -> (advice <TIME> <TOKEN_LIST>)
<TOKEN_LIST> -> <TOKEN_LIST> <TOKEN> | <TOKEN>
<TOKEN> -> (<CONDITION> <DIRECTIVE_LIST>) | 
		(clear)
<CONDITION> -> (true) |
		(false) |
		(ppos <TEAM> <UNUM_SET> <REGION>) | #all players in set are in region
		(bpos <REGION>) |
		(bowner <TEAM> <UNUM_SET>) | #at least one of the players from the set is the ball owner
		(pmode <PLAY_MODE>) |
		(and <CONDITION_LIST>) |
		(or <CONDITION_LIST>) |
		(not <CONDITION>) 
<CONDITION_LIST> -> <CONDITION_LIST> <CONDITION>
<DIRECTIVE_LIST> -> <DIRECTIVE_LIST> <DIRECTIVE> | <DIRECTIVE>
<DIRECTIVE> -> (do <TEAM> <UNUM_SET> <ACTION>) |
		(dont <TEAM> <UNUM_SET> <ACTION>) 
<ACTION> -> (pos <REGION>) |
		(home <REGION>) |
		(bto <REGION> <BMOVE_SET>) |
		(bto <UNUM_SET>) |
		(mark <UNUM>) |
		(markl <UNUM>) |
		(markl <REGION>) |
		(oline <REGION>) |
		(htype <HET_TYPE>) 

#Misc. bits of data
<PLAY_MODE> -> bko | time_over | play_on 
	     | ko_our | ko_opp | ki_out | ki_opp | fk_our | fk_opp
             | ck_our | ck_opp | gk_our | gk_opp | gc_our | gc_opp
	     | ag_our | ag_opp
<TIME> -> [int]
<HET_TYPE> -> [int] #1-based, 0 to clear knowledge
<TEAM> -> our | opp
<UNUM> -> [int(0-11)]
<UNUM_SET> -> { <UNUM_LIST> }
<UNUM_LIST> -> <UNUM_LIST> <UNUM> | e #e here means epsilon, i.e. the empty string
<BMOVE_SET> -> { <BMOVE_LIST> }
<BMOVE_LIST> -> <BMOVE_LIST> <BMOVE_TOKEN> | <BMOVE_TOKEN>
<BMOVE_TOKEN> -> p | d | c | s #pass dribble clear score; note these do not need spaces between them


#Regions
<REGION> -> <POINT> |
	(null)
	(quad <POINT> <POINT> <POINT> <POINT>) |
	(arc <POINT> [real] [real] [real] [real]) |
	#small radius, large radius, start angle, end angle
	(reg <REGION_LIST>)
<REGION_LIST> -> <REGION_LIST> <REGION> | <REGION>
<POINT> -> (pt [real] [real]) #xcoord, ycoord

#Meta messages
<META_MESS> -> (meta <META_TOKEN_LIST>)
<META_TOKEN_LIST> -> <META_TOKEN_LIST> <META_TOKEN> | <META_TOKEN>
<META_TOKEN> -> (ver [int])

#Define messages
<DEFINE_MESS> -> (define <DEFINE_TOKEN_LIST>)
<DEFINE_TOKEN_LIST> -> <DEFINE_TOKEN_LIST> <DEFINE_TOKEN> | <DEFINE_TOKEN>
<DEFINE_TOKEN> -> <CONDITION_DEFINE> | <ACTION_DEFINE> | <REGION_DEFINE>
<CONDITION_DEFINE> -> (definec "[string]" CONDITION)
<DIRECTIVE_DEFINE> -> (defined "[string]" DIRECTIVE)
<REGION_DEFINE> ->    (definer "[string]" REGION)

#Freeform messages
<FREEFORM_MESS> -> (freeform "[string]")



I hope you find this useful and welcome all comments.