peterclient.c

足球机器人仿真组CMU97的源码

/* peterclient.c
 * CMUnited-97 (soccer client for Robocup-97)
 * Peter Stone <[e-mail]>
 * Computer Science Department
 * Carnegie Mellon University
 * Copyright (C) 1997 Peter Stone
 *
 * CMUnited-97 was created by Peter Stone and Manuela Veloso
 *
 * You may copy and distribute this program freely as long as you retain this notice.
 * If you make any changes or have any comments we would appreciate a message.
 */

/*
 *  udp client program.
 */
#include "global.h"

#if PRACTICE
#define SAVE_LOG                0
#define SAVE_SOUND_LOG          0
#else
#define SAVE_LOG                0
#define SAVE_SOUND_LOG          0
#endif
#define RECV_DEBUG              0
#define TAKE_KBD_INPUT          0
#define PRINT_MISSED_MSGS       0

int SIMULATOR_STEP = DEFAULT_SIMULATOR_STEP;

Socket init_connection(char* host, int port);
int    send_message(char* buf, Socket *sock);
int    receive_message(char *buf, int size, Socket *sock, int *port, int flags);
int    ProcessInitializeMessage(Socket *sock, char *team_name, int unum);
void   ProcessIncomingMessage(Socket *sock);
int    ProcessKeyboardInput(Socket *sock, int *behavior, FILE *fpin);
void   message_loop(FILE* fpin, char* team_name, int unum, Socket *sock, int behavior, int my_score, int their_score);
void   close_connection(Socket sock);

/* Make these Global instead of passing them around */
Socket GLOBAL_SOCK;
Socket *GLOBAL_sock = &GLOBAL_SOCK;
Memory  GLOBAL_MEM;
Memory *Mem = &GLOBAL_MEM;

#if SAVE_LOG
FILE *fpout; 
char  fpoutName[MAXMESG];
#endif

#if SAVE_SOUND_LOG
FILE *fpSoundout; 
char  fpSoundoutName[MAXMESG];
#endif

/*
 * UDP connection の倡肋
 *
 * 苞眶 :
 * host : host name もしくは host の IP address
 * port : port 戎规
 * 
 * 提り猛 :
 * error が券栏した眷圭、Socket.socketfd に -1 を掐れて手す。
 * 
 */
 
Socket init_connection(char *host, int port)
{
    struct hostent 	*host_ent ;
    struct in_addr      *addr_ptr ;
    struct sockaddr_in	cli_addr ;
    int			sockfd, val ;
    Socket		sock ;

    sock.socketfd = -1 ;

    if((host_ent = (struct hostent *)gethostbyname(host)) == NULL) {
	/* Check if a numeric address */
	if(inet_addr(host) == -1){
	    return sock ;
	}
    }
    else{
	addr_ptr = (struct in_addr *) *host_ent->h_addr_list ;
	host = inet_ntoa(*addr_ptr) ;
    }


    /*
     *  Open UDP socket.
     */
    if( (sockfd = socket(AF_INET, SOCK_DGRAM, 0)) < 0){
	return sock ;  	/* Can't open socket. */
    }

   val = fcntl(sockfd, F_GETFL, 0) ;
   /* 5/17/96 Dave found that O_NONBLOCK didn't work for setting up a*/
   /* non-blocking socket.  O_NDELAY seems to work, though!          */
   /*    val |= O_NONBLOCK ;*/
    val |= O_NDELAY;
    fcntl(sockfd, F_SETFL, val) ;

    /*
     *  Bind any local address.
     */
    bzero((char *) &cli_addr, sizeof(cli_addr)) ;
    cli_addr.sin_family		= AF_INET ;
    cli_addr.sin_addr.s_addr	= htonl(INADDR_ANY) ;
    cli_addr.sin_port		= htons(0) ;


    if(bind(sockfd, (struct sockaddr *) &cli_addr,
	    sizeof(cli_addr)) < 0){
	return sock ;  /* Can't bind local address */
    }
    

    /*
     *  Fill in the structure with the address of the server.
     */
    sock.socketfd = sockfd ;

    bzero((char *) &sock.serv_addr, sizeof(sock.serv_addr)) ;
    sock.serv_addr.sin_family		= AF_INET ;
    sock.serv_addr.sin_addr.s_addr	= inet_addr(host) ;
    sock.serv_addr.sin_port		= htons(port) ;
    
    return sock ;
}


/*
 * socket に message を流叫
 *
 * 苞眶 :
 * buf  : message の柒推
 * sock : socket
 * 
 * 提り猛 :
 * 流叫に己窃した眷圭、-1 を手す。
 * 
 */

#define TIMER_INIT_SECS  999999  /* Enough so it won't expire */
#define TIMER_INIT_USECS 1000*SIMULATOR_STEP
#define CHECK_SOCKET_INTERVAL_USECS 10000

/* Returns FALSE if there's no time to wait--ready to act right away */
/* Returns TRUE if the time ran out: any new messages were parsed    */
int message_poll_while_waiting(Socket *sock){
  struct itimerval itv2;
  int              dummy_port;
  char             buf[MAXMESG]; /* For peaking, this must be big */
  struct timeval   timeout;

  timeout.tv_sec = 0;
  timeout.tv_usec = CHECK_SOCKET_INTERVAL_USECS;

  getitimer(ITIMER_REAL, &itv2);
  if ( itv2.it_value.tv_sec != TIMER_INIT_SECS )
    return FALSE;

  while (itv2.it_value.tv_sec == TIMER_INIT_SECS){  /* changes after TIMER_INIT_USECS */
    /* Check for new messages while waiting to act                  */
    /* Right now this is all busy wait.  Put in some short usleeps? */

    if( receive_message(buf, MAXMESG, sock, &dummy_port, MSG_PEEK) > 0 ){
#if RECV_DEBUG
      /*
      getitimer(ITIMER_REAL, &itv2);
      fprintf(fpout,"Player %d, time %d: About to process, timer secs-usecs = %d-%d\n",
	     Mem->MyNumber,Mem->CurrentTime,itv2.it_value.tv_sec,itv2.it_value.tv_usec); 
      */
#endif
      ProcessIncomingMessage(sock);
#if RECV_DEBUG
      /*
      getitimer(ITIMER_REAL, &itv2);
      fprintf(fpout,"Player %d, time %d: Processed       , timer secs-usecs = %d-%d\n",
	     Mem->MyNumber,Mem->CurrentTime,itv2.it_value.tv_sec,itv2.it_value.tv_usec); 
      */
#endif
    }
    select(1,0,0,0,&timeout);  /* Pause for a bit so as not to busy wait */
    getitimer(ITIMER_REAL, &itv2);
  }
  return TRUE;
}

int message_poll_until_sight(Socket *sock)
{
  fd_set	readfds;
  int		in, max_fd;

  Mem->NewSight = FALSE;

  while ( !Mem->NewSight ){
    FD_ZERO(&readfds) ;
#if 0
    FD_SET(in, &readfds) ;
#else 
    in = 0;
#endif
    FD_SET(sock->socketfd, &readfds) ;
    
    max_fd = ((in > sock->socketfd) ? in : sock->socketfd) + 1 ;
    /* Select waits for something on the socket before acting         */
    if(select(max_fd, &readfds, 0, 0, 0) == -1){
      perror("select") ;
      break ;
    }

    if( FD_ISSET(sock->socketfd, &readfds) ){
      ProcessIncomingMessage(sock);
    }

#if 0
    if( FD_ISSET(in, &readfds) ){
      ProcessKeyboardInput(sock,&behavior,fpin);
    }
#endif
  }
  Mem->NewSight = FALSE;
}

int send_message(char *buf, Socket *sock)
{
  int n;
  static int initialized = FALSE;

  static struct itimerval itv;

#if 0
  int StartTime = Mem->CurrentTime;
#endif  
  
  if ( initialized ){ /* Don't act unless it's been enough time */
    message_poll_while_waiting(sock);
  }

  n = strlen(buf) ;
  if( sendto(sock->socketfd, buf, n, 0,
	        (struct sockaddr *)&sock->serv_addr, sizeof(sock->serv_addr))
      != n ){
    my_error("Why getting here? client.c: send_message");
    return (-1) ;
  }

  if ( initialized ){
    setitimer(ITIMER_REAL, &itv, NULL); 
  }
  else {                                   /* This is the initialize message */
    itv.it_interval.tv_sec = 0 ;           /* Don't have an fpout yet        */
    itv.it_interval.tv_usec = 0 ;
    itv.it_value.tv_sec = TIMER_INIT_SECS; /* So the clock doesn't run down  */
    itv.it_value.tv_usec = TIMER_INIT_USECS;
    initialized = TRUE; 
#if PRACTICE
    itv.it_value.tv_usec *= DELAY_FACTOR;
#endif
    return 0;
  }
  
#if SAVE_LOG
  /*if (Mem->CurrentTime != StartTime)
    fprintf(fpout, "   &&& Following command issued-sent at %d-%d &&&\n",
	    StartTime,Mem->CurrentTime);*/
  fprintf(fpout,">>");
  fputs(buf, fpout) ;
#endif

  /*usleep(1000 * SIMULATOR_STEP);    /* Wait simulator_step to let command execute */
  
  return 0;
}
	   
/*
 * socket からの message の减慨
 *
 * 苞眶 :
 * buf  : message を艰り哈む buffer
 * size : sizeof(buf)
 * sock : socket
 * 
 * 提り猛 :
 * 减慨に己窃した眷圭、-1 を手す。
 * 减慨柒推が痰い眷圭、 0 を手す。
 * 减慨柒推がある眷圭、 1 を手す。
 * 
 */

int receive_message(char *buf, int size, Socket *sock, int *port, int flags)
{
  /* flags is usually 0.  If it's MSG_PEEK, just check if the message is there */
    int			n,servlen ;
    struct sockaddr_in	serv_addr ;

    servlen = sizeof(serv_addr) ;

#if RECV_DEBUG
    struct itimerval itv2;
    getitimer(ITIMER_REAL, &itv2);
    int start_secs  = itv2.it_value.tv_sec; 
    int start_usecs = itv2.it_value.tv_usec;
#endif

    n = recvfrom(sock->socketfd, buf, size, flags,
			 (struct sockaddr *)&serv_addr, &servlen);

#if RECV_DEBUG
    getitimer(ITIMER_REAL, &itv2);
    int end_secs  = itv2.it_value.tv_sec; 
    int end_usecs = itv2.it_value.tv_usec;
    if (Mem->CurrentTime > 0)
      fprintf(fpout,"  #### Receiving took from %d-%d to %d-%d (%d)####\n",
	      start_secs,start_usecs,end_secs,end_usecs,flags);
#endif


    /* Remember the port for this client */
    if (*port == DEFAULT_PORT_NUMBER)
      /* If this doesn't work, use ntohs(serv_addr.sin_port) */
      *port = serv_addr.sin_port;

    if(n < 0)
	if( n == -1 && errno == EWOULDBLOCK){
	    buf[0] = '\0' ;
	    return 0 ;
	}
	else
	    return (-1) ;
    else{
	buf[n] = '\0' ;

	if(n == 0)
	    return 0 ;
	else
	    return 1 ;
    }
}


/*
 * messege の流减慨
 *
 * 苞眶 :
 * fpin : 掐蜗(柒推は socket に流り哈まれる)
 * fpout: 叫蜗(socket からの减慨柒推が流り哈まれる)
 * sock : socket
 * 
 */

int ProcessInitializeMessage(Socket *sock, char *team_name, int unum){

  int        port = DEFAULT_PORT_NUMBER, n;
  int        number = unum;