handlemessage.cc

2007年机器人足球世界杯3D仿真组亚军

#include "gamemodel.hh"

using namespace bats;
using namespace std;

void GameModel::handleMessage(rPredicate const &pred)
{
  //  std::cerr << "handleMessage(" << *pred << "). Empty: " << (pred->isEmpty() ? "yes" : "no") << std::endl;

  for (Predicate::iterator p = pred->begin(); p != pred->end(); ++p) {

    //std::cerr << "- " << (*p)->getStr() << std::endl;
    
    if ((*p)->getStr() == "Init") {

      std::cerr << "handleMessage(" << *pred << "). Empty: " << (pred->isEmpty() ? "yes" : "no") << std::endl;

      static Path pathFieldLength("/FieldLength/");
      rPredicate predFieldLength = (*p)->select(pathFieldLength);

      if (predFieldLength)
        setVar(FieldLength,*predFieldLength);

      static Path pathFieldWidth("/FieldWidth/");
      rPredicate predFieldWidth = (*p)->select(pathFieldWidth);

      if (predFieldWidth)
        setVar(FieldWidth,*predFieldWidth);

      static Path pathFieldHeight("/FieldHeight/");
      rPredicate predFieldHeight = (*p)->select(pathFieldHeight);
      
      if (predFieldHeight)
        setVar(FieldHeight,*predFieldHeight);

      static Path pathGoalWidth("/GoalWidth/");
      rPredicate predGoalWidth = (*p)->select(pathGoalWidth);

      if (predGoalWidth)
        setVar(GoalWidth,*predGoalWidth);

      static Path pathGoalDepth("/GoalDepth/");
      rPredicate predGoalDepth = (*p)->select(pathGoalDepth);

      if (predGoalDepth)
        setVar(GoalDepth,*predGoalDepth);

      static Path pathGoalHeight("/GoalHeight/");
      rPredicate predGoalHeight = (*p)->select(pathGoalHeight);

      if (predGoalHeight)
        setVar(GoalHeight,*predGoalHeight);

      static Path pathBorderSize("/BorderSize/");
      rPredicate predBorderSize = (*p)->select(pathBorderSize);

      if (predBorderSize)
        setVar(BorderSize,*predBorderSize);

      static Path pathFreeKickDistance("/FreeKickDistance/");
      rPredicate predFreeKickDistance = (*p)->select(pathFreeKickDistance);
      
      if (predFreeKickDistance)
        setVar(FreeKickDistance,*predFreeKickDistance);

      static Path pathWaitBeforeKickOff("/WaitBeforeKickOff/");
      rPredicate predWaitBeforeKickOff = (*p)->select(pathWaitBeforeKickOff);
      
      if (predWaitBeforeKickOff)
        setVar(WaitBeforeKickOff,*predWaitBeforeKickOff);

      static Path pathAgentMass("/AgentMass/");
      rPredicate predAgentMass = (*p)->select(pathAgentMass);

      if (predAgentMass)
        setVar(AgentMass,*predAgentMass);

      static Path pathAgentRadius("/AgentRadius/");
      rPredicate predAgentRadius = (*p)->select(pathAgentRadius);

      if (predAgentRadius)
        setVar(AgentRadius,*predAgentRadius);

      static Path pathAgentMaxSpeed("/AgentMaxSpeed/");
      rPredicate predAgentMaxSpeed = (*p)->select(pathAgentMaxSpeed);

      if (predAgentMaxSpeed)
        setVar(AgentMaxSpeed,*predAgentMaxSpeed);

      static Path pathBallRadius("/BallRadius/");
      rPredicate predBallRadius = (*p)->select(pathBallRadius);

      if (predBallRadius)
        setVar(BallRadius,*predBallRadius);

      static Path pathBallMass("/BallMass/");
      rPredicate predBallMass = (*p)->select(pathBallMass);

      if (predBallMass)
        setVar(BallMass,*predBallMass);

      static Path pathRuleGoalPauseTime("/RuleGoalPauseTime/");
      rPredicate predRuleGoalPauseTime = (*p)->select(pathRuleGoalPauseTime);

      if (predRuleGoalPauseTime)
        setVar(RuleGoalPauseTime,*predRuleGoalPauseTime);
      
      static Path pathRuleKickInPauseTime("/RuleKickInPauseTime/");
      rPredicate predRuleKickInPauseTime = (*p)->select(pathRuleKickInPauseTime);

      if (predRuleKickInPauseTime)
        setVar(RuleKickInPauseTime,*predRuleKickInPauseTime);
      
      static Path pathRuleHalfTime("/RuleHalfTime/");
      rPredicate predRuleHalfTime = (*p)->select(pathRuleHalfTime);

      if (predRuleHalfTime)
        setVar(RuleHalfTime,*predRuleHalfTime);
      
      static Path pathPlayModes("/play_modes");
      rPredicate predPlayModes = (*p)->select(pathPlayModes);

      cerr << "Play modes?...?" << endl;

      if (predPlayModes) {
        d_playModes.clear(); // just in case, first clear the playModes list.
        for (Predicate::iterator i = predPlayModes->begin();
             i != predPlayModes->end(); ++i)
          d_playModes.push_back(**i);
      }

    } else if ((*p)->getStr() == "Info") {

      vector <rPredicate> players;
      vector <rPredicate> flags;
      vector <rPredicate> goalPosts;
      
      static Path timePath("time/");
      static Path playerPath("P");
      static Path flagPath("F");
      static Path goalPath("G");
      static Path ballPath("B");
      
      static Path sidePath("s/");
      static Path idPath("id/");
      static Path posPath("pos/");
      static Path sayPath("say/");

      static Path teamLeftPath("team_left/");
      static Path teamRightPath("team_right/");
      
      static Path playModePath("play_mode/");

      rPredicate teamLeft = pred->select(teamLeftPath);
      if (teamLeft)
	setVar(TeamLeft, teamLeft->getStr());

      rPredicate teamRight = pred->select(teamRightPath);
      if (teamRight)
	setVar(TeamRight, teamRight->getStr());

      vector<rPredicate> pos;
      Vector3D coords;

      // Time
      rPredicate time = pred->select(timePath);

      if (time)
        setVar(Time, time->getStr());

      rPredicate playMode = pred->select(playModePath);

      if (playMode)
        setVar(PlayMode, playMode->getStr());

      // Ball
      rPredicate ball = pred->select(ballPath);
      pos.clear();
      ball->selectAll(pos, posPath);

      coords[0] = pos[0]->getDouble();
      coords[1] = pos[1]->getDouble();
      coords[2] = pos[2]->getDouble();

      setVar(Ball, coords);

      // Players
      pred->selectAll(players, playerPath);
      for (unsigned i = 0; i < players.size(); ++i)
      {
        int side = *players[i]->select(sidePath);
        // Side 0 = uninitialized player
        if (side != 0)
        {
          int id = *players[i]->select(idPath);
          pos.clear();
          players[i]->selectAll(pos, posPath);
        
          coords[0] = pos[0]->getDouble();
          coords[1] = pos[1]->getDouble();
          coords[2] = pos[2]->getDouble();
          getPlayerInfo(side - 1, id - 1).pos = coords;
          rPredicate sayPred = players[i]->select(sayPath);
          if (sayPred)
            getPlayerInfo(side - 1, id - 1).say = string(*sayPred);
          else
            getPlayerInfo(side - 1, id - 1).say = "";
        }
      }
      
      // Flags
      pred->selectAll(flags, flagPath);
      for (unsigned i = 0; i < flags.size(); ++i)
      {
        string id = *flags[i]->select(idPath);
        pos.clear();
        flags[i]->selectAll(pos, posPath);
        
        coords[0] = pos[0]->getDouble();
        coords[1] = pos[1]->getDouble();
        coords[2] = pos[2]->getDouble();
        
        GameVar flagId;
        if (id == "1_l")
          flagId = Flag1L;
        if (id == "1_r")
          flagId = Flag1R;
        if (id == "2_l")
          flagId = Flag2L;
        if (id == "2_r")
          flagId = Flag2R;

        setVar(flagId, coords);
      }

      // GoalPosts
      pred->selectAll(goalPosts, goalPath);
      //cout << "Nr of Goal Posts: " << goalPosts.size() << endl;
      for (unsigned i = 0; i < goalPosts.size(); ++i)
      {
        string id = *goalPosts[i]->select(idPath);
        pos.clear();
        goalPosts[i]->selectAll(pos, posPath);
        
        coords[0] = pos[0]->getDouble();
        coords[1] = pos[1]->getDouble();
        coords[2] = pos[2]->getDouble();
        
        GameVar goalId;
        if (id == "1_l")
          goalId = Goal1L;
        if (id == "1_r")
          goalId = Goal1R;
        if (id == "2_l")
          goalId = Goal2L;
        if (id == "2_r")
          goalId = Goal2R;

        setVar(goalId, coords);
      }


      // Test:
      updateAgentCommands();

    }
  }
}