scriptplayer.cc

The Little Green BATS is the first and so far only Dutch team in the 3D simulation league. We are a

#include "scriptplayer.ih"

ScriptPlayer::ScriptPlayer(string const &id, string const &playerClass)
  : Behavior("ScriptPlayer", id, playerClass),
    d_waitUntil(-1),
    d_lastStepTime(0),
    d_curLine(0),
    d_lastChecked(0),
    d_maxSpeed(100.0)
{
	d_committed = true;
	
  XMLNodeSet params = getParams("/script");
  istringstream scriptReader;
  if(params && !params.empty())
  {
    XMLNode scriptNode = params.front();
    scriptReader.str(scriptNode.getContent());

    //unsigned nLines;
    //scriptReader >> nLines;
    vector<pair<double, double> > scriptLine(Types::NJOINTS + 1, pair<double,double>(0, d_maxSpeed / 180.0 * M_PI));
    
    while (!scriptReader.eof())
    {
      _debugLevel4("Reading new line");
      
      int joint = -1;
      char eq = '=';
      double value = 0;
      char punc = 0;
      
      bool newline = false;
      
      while (eq == '=' && punc != ';')
      {
        // Set wait to 0
        scriptLine[Types::NJOINTS] = pair<double, double>(0, 0);
        
        scriptReader >> joint >> eq >> value >> punc;
        double maxSpeed = d_maxSpeed;
        if (punc == ':')
          scriptReader >> maxSpeed >> punc;
          
        if (joint < 0 || joint > Types::NJOINTS)
          break;
          
        newline = true;
        
        _debugLevel4("eq: " << eq << ", angle: " << value << ", punc: " << punc);
        
        if (joint < Types::NJOINTS)
          scriptLine[joint] = pair<double, double>((value / 180.0) * M_PI, (maxSpeed / 180.0) * M_PI);
        else // Wait instruction
          scriptLine[Types::NJOINTS] = pair<double, double>(value, 0);
        
      }
      
      if (newline)
        d_script.push_back(scriptLine);
      else
        break;
        
      //for (unsigned j = 0; j <= Types::NJOINTS; ++j)
      // cerr << scriptLine[j] << " ";
      //cerr << endl;
    }
  }

  d_tree = new AST::Node(sequenceType);
  d_tree->addChild(new AST::Node(andType));
  for (unsigned i = 0; i < Types::NJOINTS; ++i)
    d_tree->getChild(0)->addChild(new AST::Node(orType));
}