parse.c

足球机器人仿真组CMU97的源码

/* parse.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.
 */

#include "global.h"

#define SELF      0
#define REFEREE  (SELF+1)
#define COACH    (REFEREE+1)
#define TEAMMATE (COACH+1)
#define OPPONENT (TEAMMATE+1)

int ParseSights(int, char*);
int ParseSound(int, char*);
void ParseRefereeMessage(char*, int);

void ParseSensoryData(char *SensoryInfo){

  //printf("%s\n",SensoryInfo);

  char *message;
  int time;

  if ( SensoryInfo[1]=='s' ){            /* see */
    SensoryInfo += 5;                    /* "(see " */
    time = get_int(SensoryInfo);         /* %d */
    while ( isdigit(*SensoryInfo) ) SensoryInfo++; /* advance past int */
    int closestMarker = ParseSights(time, SensoryInfo);
    Mem->NewSight = TRUE;
    if (Mem->PlayMode == BEFORE_KICK_OFF)
      Mem->StoppedClockTime += Mem->TimePerSight();
    Mem->Tick(closestMarker,time);  /* Tick relies on closestMarker < 0 if none visible */
  }
  else if ( SensoryInfo[1]=='h' ){       /* hear */
    SensoryInfo += 6;                    /* "(hear " */
    time = get_int(SensoryInfo);         /* %d */
    while ( isdigit(*SensoryInfo) ) SensoryInfo++; /* advance past int */
    int type = ParseSound(time, SensoryInfo);
    if ( type == TEAMMATE)
      Mem->UpdateMobileObjectPositions(FALSE); /* might have ball or player info */
  }
}

/*********************************************************************************/
/*********************************************************************************/
/*********************************************************************************/

int ParseSights(int time, char *buffer){

  float dist, ang;
  float dirChng = NODIR; 
  float distChng;
  char object;     /* just the first letter */
  char player_side, player_number;
  int marker, line;
  int view_qual = LOW_QUALITY;
  /* Tick relies on closestMarker < 0 if none visible */
  int closestMarker = -1, processThisMarker;
  float closestMarkerDist, motionInfoDist = 1000;

  while (*buffer != ')'){

    line = marker = NUM_MARKERS;
    dirChng = NODIR;
    player_number = player_side = 0;
    processThisMarker = FALSE;

    buffer+=3;            /* " ((" */
    object = *buffer;     /* object's first letter */

    if ( object=='g' ){
      buffer+=5;          /* "goal " */
      if ( *buffer=='r' )         marker = GOAL_R; else
      if ( *buffer=='l' )         marker = GOAL_L; else
      my_error("goal ?");
    } else
    if ( object=='G' )            marker = Mem->ClosestGoal(); else
    if ( object=='f' ){
      buffer+=5;          /* "flag " */
      if ( *buffer=='r' ){
	buffer+=2;
	if ( *buffer=='b' )       marker = FLAG_RB; else
	if ( *buffer=='t' )       marker = FLAG_RT; else
	my_error("flag r ?");
      } else
      if ( *buffer=='l' ){
	buffer+=2;
	if ( *buffer=='b' )       marker = FLAG_LB; else
	if ( *buffer=='t' )       marker = FLAG_LT; else
	my_error("flag l ?");
      } else
      if ( *buffer=='c' ){
	buffer+=2;
	if ( *buffer=='b' )       marker = FLAG_B; else
	if ( *buffer=='t' )       marker = FLAG_T; else
	my_error("flag c ?");
      } else
      if ( *buffer=='p' ){
	buffer+=2;
	if ( *buffer=='r' ){
	  buffer+=2;
	  if ( *buffer=='t')      marker = FLAG_PRT; else
	  if ( *buffer=='c')      marker = FLAG_PRC; else
	  if ( *buffer=='b')      marker = FLAG_PRB; else	    
	  my_error("flag p r ?");
	} else
	if ( *buffer=='l' ){
	  buffer+=2;
	  if ( *buffer=='t')      marker = FLAG_PLT; else
	  if ( *buffer=='c')      marker = FLAG_PLC; else
	  if ( *buffer=='b')      marker = FLAG_PLB; else	    
	  my_error("flag p l ?");
	} else
	my_error("flag p ?");
      } else
      my_error("flag ?");
    } else
    if ( object=='F' ){
      if ( Mem->ClosestFlag() )   marker = Mem->ClosestFlag();
      else ; /* it's a flag I don't handle yet */
    } else
    if ( object=='l' ){
      buffer+=5;          /* "line " */
      if ( *buffer=='r' )         line   = LINE_R; else
      if ( *buffer=='l' )         line   = LINE_L; else
      if ( *buffer=='t' )         line   = LINE_T; else
      if ( *buffer=='b' )         line   = LINE_B; else
      my_error("line ?");
    } else
    if ( object=='p' ){
      buffer+=6;          /* "player" */
      if ( *buffer == ' ' ){              /* there's a team */ 
	buffer++;
	if ( !strncmp(buffer,Mem->MyTeamName,Mem->MyTeamNameLen) )
	  player_side = Mem->MySide;
	else
	  player_side = Mem->TheirSide;
	while ( isalnum(*buffer) ) buffer++;   /* advance past team name */
	if ( *buffer== ' ' ){             /* there's a number */
	  buffer++;
	  player_number = get_int(buffer);
	}
      }
    }

    while (*(buffer++) != ')'); /* advance to end of object */
    buffer++;                   /* " " */        

    ang = get_float(buffer);
    while ( *buffer != ' ' && *buffer != ')' ) buffer++;

    if ( *buffer != ')' ) {                  /* 'high' quality     */
      buffer++;                              /* " " */
      view_qual = HIGH_QUALITY;
      Mem->view_quality = HIGH_QUALITY;      /* should be 'high'   */
      dist = ang;
      ang = get_float(buffer);
      while ( *buffer != ' ' && *buffer != ')' ) buffer++;
    }
    else 
      Mem->view_quality = LOW_QUALITY;       /* should be 'low'    */

    if ( *buffer != ')' ){
      buffer++;                              /* " " */
      distChng = get_float(buffer);
      while ( *(buffer++) != ' ' );          /* advance past num and space */
      dirChng  = get_float(buffer);
      while ( *buffer != ')' ) buffer++;
    }

    if ( *buffer != ')' ) my_error("Should be done with object info here");
    buffer++;                                /* ")" */

    if ( Mem->view_quality == HIGH_QUALITY &&/* angle is larger than I though */
	 object != 'l' &&                    /* Not a line  */
	 dist > FEEL_DISTANCE && fabs(ang) > Mem->GetViewAngle()/2 ){
      /* printf("%d:%d dist = %.1f, ang = %.1f so angle's wider than I think\n",
	     Mem->MyNumber,Mem->CurrentTime,dist,ang);*/
      if ( fabs(ang) > Mem->GetViewAngle(NORMAL_WIDTH)/2 )
	Mem->view_width = WIDE_WIDTH;
      else
	Mem->view_width = NORMAL_WIDTH; 
    }
    

/* marker */
    if ( marker < NUM_MARKERS ){                  /* It's a marker */

      if ( view_qual == LOW_QUALITY ){               /* Low quality   */
	; 
        /* DON'T BOTHER PROCESSING ANY??? I don't think it helps ... */
	/*if ( closestMarkerDist > 0 ){
	/*  closestMarkerDist = 0;                   /* Only process 1*/
	/*  processThisMarker = TRUE;
	/*}*/
      }
      else{                                          /* high quality  */
	if ( closestMarker < 0 || dist < closestMarkerDist){
	  closestMarker = marker;
	  closestMarkerDist = dist;
	  processThisMarker = TRUE;
	}
	if ( dirChng != NODIR && dist < motionInfoDist ){
	  motionInfoDist = dist;
	  processThisMarker = TRUE;
	}
      }
      
      if ( processThisMarker ){
	if ( view_qual == LOW_QUALITY )              /* low quality   */
	  Mem->SeeMarker(marker, ang, time);
	else if (dirChng == NODIR)                   /* high quality  */
	  Mem->SeeMarker(marker, dist, ang, time);   /* No motion info*/
	else
	  Mem->SeeMarker(marker, dist, ang, distChng, dirChng, time);
      }
    }

/* line */
    else if ( line < NUM_MARKERS ){               /* It's a line   */

      if ( *buffer != ')' )
	/* There's another line coming.  Assuming lines happen
	   last in the visual string and the closer line comes first */
	; 
      else if ( view_qual == LOW_QUALITY )           /* low quality   */
	Mem->SeeLine(line, ang, time);
      else                                           /* high quality  */
	Mem->SeeLine(line, dist, ang, time);
    }

/* ball */
    else if ( object=='b' ){                      /* It's the ball */

      if ( view_qual == LOW_QUALITY )                /* low quality   */
	Mem->SeeBall(ang, time);
      else if ( dirChng == NODIR )                   /* high quality  */
	Mem->SeeBall(dist, ang, time);