sensehandler.cpp

2003年RoboCup仿真组世界冠军源代码 足球机器人 仿真组 的源代码

{
  Parse::gotoFirstNonSpace( &strMsg );            // skip space

  if( WM->getPlayerNumber() == 0 )                // if i am coach
    return false;                                 //   skip message
  if( strlen( strMsg ) < 2 || strMsg[0] == 'o' )  // skip message since no dir.
    return false;                                 // thus no content

  Parse::parseFirstInt( &strMsg );                // skip direction
  Parse::gotoFirstNonSpace( &strMsg );            // skip space
  if( strlen( strMsg ) < 2 || strMsg[1] == 'p' )  // skip message when from opp
    return false;

  int iPlayer = Parse::parseFirstInt( &strMsg );  // get player number
  Parse::gotoFirstNonSpace( &strMsg );            // skip space
  strMsg++;                                       // skip " (=quote)

  if( strlen( strMsg ) < 4 )              // < 2 + two ending charactres ")
  {
    Log.log( 600, "communication string too small" );
    return false;
  }

  // get the cycle number from the encoding
  int iModCycle = (int)(strMsg[0] - 'a');

  if( iModCycle < 0 || iModCycle > 9 )
  {
    Log.log( 600, "communication cycle nr out of bounds: %d", iModCycle );
    return false;
  }

  // get the time difference between the current time and the send time
  int iDiff = (iTime % 10) - iModCycle;
  if( iDiff < 0 )
    iDiff += 10;

  // if it is too old; skip parsing; otherwise determine actual send time
  if( iDiff > 2  )
  {
    Log.log( 600, "communication string too old time %d mod %d diff %d",
                        iTime, iModCycle, iDiff);
    return false;
  }
  iTime -= iDiff;

  Log.log( 600, "process comm msg, diff %d time %d, %s", iDiff, iTime, strMsg);
  WM->storePlayerMessage( iPlayer, strMsg, iTime );
  return true;
}

bool SenseHandler::analyzeCoachMessage( char *strMsg )
{
  Log.log( 605, "received coach messages: %s" , strMsg );

  return true;
}
/*! This method analyzes the check_ball message that is only received by the
    coach. It sets the information in the Worldmodel what the status of the
    ball is.
    The format is as follows (check_ball <time> <status>).
    \param strMsg string that contains the check_ball message
    \return bool indicating whether update succeeded. */
bool SenseHandler::analyzeCheckBall( char *strMsg )
{
  WM->setTimeCheckBall( Parse::parseFirstInt( &strMsg ) );
  strMsg++;
  WM->setCheckBallStatus( SoccerTypes::getBallStatusFromStr( strMsg ) );
  return true;
}

/*! This method analyzes the change player type message. This method checks
    whether the player that changed type equals the agent. When this is the
    case, it adjust the ServerSettings according to the values associated
    with this player type.
    \param strMsg string that contains the player type message.
    \return bool indicating whether player type of agent changed. */
bool SenseHandler::analyzeChangePlayerTypeMessage( char *strMsg )
{
  Log.log( 999, "%s", strMsg );
  int iPlayer = Parse::parseFirstInt( &strMsg );
  if( *strMsg != ')' ) // we are dealing with player of own team
  {
    int      iType = Parse::parseFirstInt( &strMsg );
    ObjectT  obj   = SoccerTypes::getTeammateObjectFromIndex( iPlayer - 1 );
    Log.log( 605, "change player from message %d -> %d", obj, iType );
    WM->setHeteroPlayerType( obj, iType );
    Log.log( 605, "changed player from message %d -> %d", obj, 
              WM->getHeteroPlayerType( obj ) );
    return true;
  }
  else
  {
    ObjectT  obj   = SoccerTypes::getOpponentObjectFromIndex( iPlayer - 1 );
    return WM->setSubstitutedOpp( obj );
  }


  return false;
}

/*! This method analyzes the server_param message. This message contains all
    the server parameters. All settings of the ServerSettings are changed
    according to the supplied values. This makes the reading from a server
    configuration file obsolete.
    \param strMsg string message with all the server parameters
    \return booli indicating whether string was parsed. */
bool SenseHandler::analyzeServerParamMessage( char *strMsg )
{

  Log.log( 4, "%s", strMsg );

  readServerParam( "goal_width",               strMsg );
  readServerParam( "player_size",              strMsg );
  readServerParam( "player_decay",             strMsg );
  readServerParam( "player_rand",              strMsg );
  readServerParam( "player_weight",            strMsg );
  readServerParam( "player_speed_max",         strMsg );
  readServerParam( "player_accel_max",         strMsg );
  readServerParam( "stamina_max",              strMsg );
  readServerParam( "stamina_inc_max",          strMsg );
  readServerParam( "recover_dec_thr",          strMsg );
  readServerParam( "recover_min",              strMsg );
  readServerParam( "recover_dec",              strMsg );
  readServerParam( "effort_dec_thr",           strMsg );
  readServerParam( "effort_min",               strMsg );
  readServerParam( "effort_dec",               strMsg );
  readServerParam( "effort_inc_thr",           strMsg );
  readServerParam( "effort_inc",               strMsg );
  readServerParam( "kick_rand",                strMsg );
  readServerParam( "ball_size",                strMsg );
  readServerParam( "ball_decay",               strMsg );
  readServerParam( "ball_rand",                strMsg );
  readServerParam( "ball_weight",              strMsg );
  readServerParam( "ball_speed_max",           strMsg );
  readServerParam( "ball_accel_max",           strMsg );
  readServerParam( "dash_power_rate",          strMsg );
  readServerParam( "kick_power_rate",          strMsg );
  readServerParam( "kickable_margin",          strMsg );
  readServerParam( "catch_probability",        strMsg );
  readServerParam( "catchable_area_l",         strMsg );
  readServerParam( "catchable_area_w",         strMsg );
  readServerParam( "goalie_max_moves",         strMsg );
  readServerParam( "maxpower",                 strMsg );
  readServerParam( "minpower",                 strMsg );
  readServerParam( "maxmoment",                strMsg );
  readServerParam( "minmoment",                strMsg );
  readServerParam( "maxneckmoment",            strMsg );
  readServerParam( "minneckmoment",            strMsg );
  readServerParam( "maxneckang",               strMsg );
  readServerParam( "minneckang",               strMsg );
  readServerParam( "visible_angle",            strMsg );
  readServerParam( "visible_distance",         strMsg );
  readServerParam( "audio_cut_dist",           strMsg );
  readServerParam( "quantize_step",            strMsg );
  readServerParam( "quantize_step_l",          strMsg );
  readServerParam( "ckick_margin",             strMsg );
  readServerParam( "wind_dir",                 strMsg );
  readServerParam( "wind_force",               strMsg );
  readServerParam( "wind_rand",                strMsg );
  readServerParam( "wind_random",              strMsg );
  readServerParam( "inertia_moment",           strMsg );
  readServerParam( "half_time",                strMsg );
  readServerParam( "drop_ball_time",           strMsg );
  readServerParam( "port",                     strMsg );
  readServerParam( "coach_port",               strMsg );
  readServerParam( "olcoach_port",             strMsg );
  readServerParam( "say_coach_cnt_max",        strMsg );
  readServerParam( "say_coach_msg_size",       strMsg );
  readServerParam( "simulator_step",           strMsg );
  readServerParam( "send_step",                strMsg );
  readServerParam( "recv_step",                strMsg );
  readServerParam( "sense_body_step",          strMsg );
  readServerParam( "say_msg_size",             strMsg );
  readServerParam( "clang_win_size",           strMsg );
  readServerParam( "clang_define_win",         strMsg );
  readServerParam( "clang_meta_win",           strMsg );
  readServerParam( "clang_advice_win",         strMsg );
  readServerParam( "clang_info_win",           strMsg );
  readServerParam( "clang_mess_delay",         strMsg );
  readServerParam( "clang_mess_per_cycle",     strMsg );
  readServerParam( "hear_max",                 strMsg );
  readServerParam( "hear_inc",                 strMsg );
  readServerParam( "hear_decay",               strMsg );
  readServerParam( "catch_ban_cycle",          strMsg );
  readServerParam( "send_vi_step",             strMsg );
  readServerParam( "use_offside",              strMsg );
  readServerParam( "offside_active_area_size", strMsg );
  readServerParam( "forbid_kick_off_offside",  strMsg );
  readServerParam( "verbose",                  strMsg );
  readServerParam( "offside_kick_margin",      strMsg );
  readServerParam( "slow_down_factor",         strMsg );
  readServerParam( "synch_mode",               strMsg );
  readServerParam( "fullstate_l",              strMsg );
  readServerParam( "fullstate_r",              strMsg );
  readServerParam( "pen_dist_x",               strMsg );
  readServerParam( "pen_max_goalie_dist_x",    strMsg );
  readServerParam( "pen_allow_mult_kicks",     strMsg );
  readServerParam( "tackle_dist",              strMsg );
  readServerParam( "tackle_back_dist",         strMsg );
  readServerParam( "tackle_width",             strMsg );
  readServerParam( "tackle_cycles",            strMsg );
  readServerParam( "tackle_power_rate",        strMsg );
  readServerParam( "tackle_exponent",          strMsg );

  SS->setMaximalKickDist      ( SS->getKickableMargin() +
                                SS->getPlayerSize()     +
                                SS->getBallSize()          );
// SS->show( cerr, ":" );
  return true;
}

bool SenseHandler::readServerParam( char *strParam, char *strMsg )
{
  char strFormat[128];
  char strValue[128] = "";
  sprintf( strValue, "none" );

  sprintf( strFormat, "%s ", strParam );        // add space after parameters
  char *str = strstr( strMsg, strFormat );      // and find param definition
  sprintf( strFormat, "%s %%[^)]", strParam );  // read till closing bracket

  if( str == NULL )
  {
    cerr << "(SenseHandler::readServerParam) " << WM->getPlayerNumber() <<
            "  error finding " << strParam <<endl;
    return false;
  }
  int ret = sscanf( str, strFormat, strValue ); // read in values

  if( ret == 1 )
    SS->setValue( strParam, strValue );
  else
    cerr << "(SenseHandler::readServerParam) error reading " <<strParam <<endl;
  return (ret == 1 ) ? true : false ;
}


/*! This method analyze a player type message. This message contains the
    values associated with a specific heterogeneous player type. The values
    are parsed from the message and supplied to the WorldModel method
    processNewHeteroPlayer.
    \param strMsg string that contains the player type information
    \return bool indicating whether the message was parsed correctly. */
bool SenseHandler::analyzePlayerTypeMessage ( char *strMsg )
{
  Log.log( 999, "%s", strMsg );
// cerr << strMsg << endl;

  // analyze all heterogeneous player information
  int    iIndex           = Parse::parseFirstInt( &strMsg );
  double dPlayerSpeedMax  = Parse::parseFirstDouble( &strMsg );
  double dStaminaIncMax   = Parse::parseFirstDouble( &strMsg );
  double dPlayerDecay     = Parse::parseFirstDouble( &strMsg );
  double dInertiaMoment   = Parse::parseFirstDouble( &strMsg );
  double dDashPowerRate   = Parse::parseFirstDouble( &strMsg );
  double dPlayerSize      = Parse::parseFirstDouble( &strMsg );
  double dKickableMargin  = Parse::parseFirstDouble( &strMsg );
  double dKickRand        = Parse::parseFirstDouble( &strMsg );
  double dExtraStamina    = Parse::parseFirstDouble( &strMsg );
  double dEffortMax       = Parse::parseFirstDouble( &strMsg );
  double dEffortMin       = Parse::parseFirstDouble( &strMsg );

  WM->processNewHeteroPlayer( iIndex, dPlayerSpeedMax, dStaminaIncMax,
      dPlayerDecay,    dInertiaMoment, dDashPowerRate, dPlayerSize,
      dKickableMargin, dKickRand,      dExtraStamina,  dEffortMax,
      dEffortMin );
  return true;
}

/*! This method analyzes the player_param message that indicates the ranges of
    the possible values for the heterogeneous player types. Nothing is done
    with this information.
    \param strMsg string that contains the player_param message.
    \bool will always be true. */
bool SenseHandler::analyzePlayerParamMessage( char *strMsg )
{
//  cout << strMsg << endl;
  Log.log( 999, "%s", strMsg );
  readServerParam( "player_types",                     strMsg );
  readServerParam( "subs_max",                         strMsg );
  readServerParam( "player_speed_max_delta_min",       strMsg );
  readServerParam( "player_speed_max_delta_max",       strMsg );
  readServerParam( "stamina_inc_max_delta_factor",     strMsg );
  readServerParam( "player_decay_delta_min",           strMsg );
  readServerParam( "player_decay_delta_max",           strMsg );
  readServerParam( "inertia_moment_delta_factor",      strMsg );
  readServerParam( "dash_power_rate_delta_min",        strMsg );
  readServerParam( "dash_power_rate_delta_max",        strMsg );
  readServerParam( "player_size_delta_factor",         strMsg );
  readServerParam( "kickable_margin_delta_min",        strMsg );
  readServerParam( "kickable_margin_delta_max",        strMsg );
  readServerParam( "kick_rand_delta_factor",           strMsg );
  readServerParam( "extra_stamina_delta_min",          strMsg );
  readServerParam( "extra_stamina_delta_max",          strMsg );
  readServerParam( "effort_max_delta_factor",          strMsg );
  readServerParam( "effort_min_delta_factor",          strMsg );
  readServerParam( "new_dash_power_rate_delta_min",    strMsg );
  readServerParam( "new_dash_power_rate_delta_max",    strMsg );
  readServerParam( "new_stamina_inc_max_delta_factor", strMsg );

  return true;
}

/*****************************************************************************/
/********************* TESTING PURPOSES **************************************/
/*****************************************************************************/

/*
int main( void )
{
  Connection c( "localhost", 6000 );
  WorldModel wm;
  SenseHandler i( &c,  &wm );
  i.analyzeMessage( "(see 0 ((g r) 64.1 13) ((f r t) 65.4 -16) ((f r b) 79 38) ((f p r t) 46.1 -6) ((f p r c) 48.4 18) ((f p r b) 58 37) ((f g r t) 62.8 7) ((f g r b) 66 19) ((f t r 20) 38.5 -38) ((f t r 30) 46.5 -30) ((f t r 40) 55.7 -25) ((f t r 50) 64.7 -21) ((f b r 50) 80.6 41) ((f r t 30) 69.4 -12) ((f r t 20) 67.4 -4) ((f r t 10) 67.4 4) ((f r 0) 69.4 12) ((f r b 10) 72.2 20) ((f r b 20) 75.9 27) ((f r b 30) 81.5 33) ((l r) 62.8 -89))" );
   cout << "2" << endl;
  i.analyzeMessage( "(see 0 ((g l) 49.9 -24) ((f l t) 50.9 14) ((f p l t) 31.5 1 0 0) ((f p l c) 34.5 -33) ((f g l t) 47.9 -17) ((f g l b) 52.5 -32) ((f t l 50) 50.9 20) ((f t l 40) 42.5 26) ((f t l 30) 34.8 36) ((f l t 30) 54.6 8) ((f l t 20) 53 -2) ((f l t 10) 53 -12) ((f l 0) 54.6 -23) ((f l b 10) 58 -32) ((f l b 20) 62.8 -41) ((p \"l\" 2) 5 -7 0 0 172 172) ((l l) 47.9 82))" );
  c.disconnect();
  cout << "exit" << endl ;

}

*/