communications.c

足球机器人仿真组CMU97的源码

/* communications.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 SOUND_OFF 0

#define TIME_ADDITION 37  /* Must be positive */

int GetKey(int from, int formation, int formtime, int pos, float x, float y){
  /* Can put in a time component */
  int key = from * (Mem->CurrentTime + TIME_ADDITION) ;
  /*printf("%d's key: %d\n",from,key);*/
  return key;
}

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

int KeyValid(int key,int from, int formation, int formtime, int pos, 
	     float x, float y, int time){
  int sentTime = key/from - TIME_ADDITION;
  /*printf("%d got %d's key: %d at %d (now %d) \n",Mem->MyNumber,from,key,sentTime,time);*/
  if ( abs(sentTime - time) < 60 )  /* Was 10 for communication paper */
    return TRUE;
  else
    return FALSE;
}

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

int Say (char *msg){
  char buf[MAXMESG];

#if SOUND_OFF
  return 0;
#endif

#if PRACTICE
  return 0;
#endif

  /* Should have team, number, formation, formation time, position, x, y, msg     */
  /* Change here must also happen in sayto, saytounit, saytoposition, communicate,*/
  /* and in parse.c (including call to HearTeammate below)                        */

  int from = Mem->MyNumber;

  int formation,formtime,position;
  if ( Mem->GetCurrentFormation() == UNKNOWN_FORMATION ){
    formation = UNKNOWN_FORMATION;
    formtime = position = 0;
  }
  else{
    formation = Mem->GetCurrentFormationType();
    formtime  = Mem->FormationTime;
    position = Mem->GetMyPosition();
  }

  float x = Mem->GetGlobalX();
  float y = Mem->GetGlobalY();

  int key = GetKey(from,formation,formtime,position,x,y);

  sprintf(buf,"(say %s %d %d %d %d %d %.1f %.1f %s)\n", Mem->MyTeamName, from, key,
	  formation, formtime, position, x, y, msg);

  if(send_message(buf, GLOBAL_sock) == -1){
    return -1;
  }
  return 0;
}
/*#define SAY(a) if(Say(a)==-1) return -1*/

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

int SayTo (int num, char *msg){
  char buf[MAXMESG];

#if SOUND_OFF
  return 0;
#endif

#if PRACTICE
  return 0;
#endif

  if ( !num || num>TEAM_SIZE )
    my_error("Can't SayTo a player that doesn't exist");

  if ( num == Mem->MyNumber )
    my_error("Why talking to myself?");

  int from = Mem->MyNumber;

  int formation,formtime,position;
  if ( Mem->GetCurrentFormation() == UNKNOWN_FORMATION ){
    formation = UNKNOWN_FORMATION;
    formtime = position = 0;
  }
  else{
    formation = Mem->GetCurrentFormationType();
    formtime  = Mem->FormationTime;
    position = Mem->GetMyPosition();
  }

  float x = Mem->GetGlobalX();
  float y = Mem->GetGlobalY();

  int key = GetKey(from,formation,formtime,position,x,y);

  sprintf(buf,"(say %s %d %d %d %d %d %.1f %.1f %s %d %s)\n", Mem->MyTeamName, from, key,
	  formation, formtime, position, x, y, TO_DELIMITER, num, msg);

  if(send_message(buf, GLOBAL_sock) == -1){
    return -1;
  }
  return 0;
}
/*#define SAYTO(a,b) if(SayTo(a,b)==-1) return -1
#define SAYTOCOACH(a) if(SayTo(0,b)==-1) return -1
*/

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

int SayToPosition (int position, char *msg){
  char buf[MAXMESG];

#if SOUND_OFF
  return 0;
#endif

#if PRACTICE
  return 0;
#endif

  if ( position > TEAM_SIZE )
    my_error("How many positions are there?");

  int from = Mem->MyNumber;

  int formation,formtime,myposition;
  if ( Mem->GetCurrentFormation() == UNKNOWN_FORMATION ){
    formation = UNKNOWN_FORMATION;
    formtime = myposition = 0;
  }
  else{
    formation = Mem->GetCurrentFormationType();
    formtime  = Mem->FormationTime;
    myposition = Mem->GetMyPosition();
  }

  float x = Mem->GetGlobalX();
  float y = Mem->GetGlobalY();

  int key = GetKey(from,formation,formtime,myposition,x,y);

  sprintf(buf,"(say %s %d %d %d %d %d %.1f %.1f %s %d %s)\n", Mem->MyTeamName, from, key,
	  formation, formtime, myposition, x, y, TO_POS_DELIMITER, position, msg);

  if(send_message(buf, GLOBAL_sock) == -1){
    return -1;
  }
  return 0;
}
/*#define SAYTOPOSITION(a,b) if(SayToPosition(a,b)==-1) return -1*/

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

int SayToUnit (int unit, char *msg){
  char buf[MAXMESG];

#if SOUND_OFF
  return 0;
#endif

#if PRACTICE
  return 0;
#endif

  if ( !Mem->IsMyUnit(unit) )
    my_error("Can't SayToUnit unless I'm in the unit");

  int from = Mem->MyNumber;

  int formation,formtime,position;
  if ( Mem->GetCurrentFormation() == UNKNOWN_FORMATION ){
    formation = UNKNOWN_FORMATION;
    formtime = position = 0;
  }
  else{
    formation = Mem->GetCurrentFormationType();
    formtime  = Mem->FormationTime;
    position = Mem->GetMyPosition();
  }

  float x = Mem->GetGlobalX();
  float y = Mem->GetGlobalY();

  int key = GetKey(from,formation,formtime,position,x,y);

  sprintf(buf,"(say %s %d %d %d %d %d %.1f %.1f %s %d %s)\n", Mem->MyTeamName, from, key,
	  formation, formtime, position, x, y, TO_UNIT_DELIMITER, unit, msg);

  if(send_message(buf, GLOBAL_sock) == -1){
    return -1;
  }
  return 0;
}
/*#define SAYTOUNIT(a,b) if(SayToUnit(a,b)==-1) return -1*/

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

int EchoTheirSound(){
  char buf[MAXMESG];

  char *msg = Mem->GetTheirOldestSound();
  if ( msg != NULL ){
    sprintf(buf,"(say %s",msg);
    if(send_message(buf, GLOBAL_sock) == -1)
      return -1;
    /* printf("%d:%d echoing message %s\n",Mem->MyNumber,Mem->CurrentTime,msg); */
  }
  return 0;
}
/*#define ECHOTHEIRSOUND EchoTheirSound()*/

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

int AnnounceMyPosition(){
/*
  char Announcement[MAXMESG];
  sprintf(Announcement,INFORM_POSITION_MSG,Mem->GetMyPosition());
  SAY(Announcement);         
*/
/*  if (Mem->GetMyActiveStatus() == ACTIVE)
    printf("%d:%d Well then I can't assume the player's inactive when saying 'here'\n",
	   Mem->MyNumber,Mem->CurrentTime); */
  SAY(HELLO_MSG);
  return 0;
}
/*#define ANNOUNCEMYPOSITION AnnounceMyPosition()*/

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

int AnnounceLeavingPosition(int position){
  char Announcement[MAXMESG];
  sprintf(Announcement,LEAVING_POSITION_MSG,position);
  SAY(Announcement);         
}
/*#define ANNOUNCELEAVINGPOSITION(a) AnnounceLeavingPosition(a)*/

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

int AnnounceBallCoordinates(){
  char Announcement[MAXMESG];
  float x,y;
  Mem->polar_to_globalxy(Mem->GetBallDistance(),Mem->GetBallAngleRad(),&x,&y);
  sprintf(Announcement,SAY_BALL_COORDINATES_MSG,x,y); 
  SAY(Announcement);         
  return 0;
}
/*#define ANNOUNCEBALLCOORDINATES AnnounceBallCoordinates()*/

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

int AnnouncePlayerCoordinates(char side, int player){
  char Announcement[MAXMESG];
  float x,y;
  Mem->polar_to_globalxy(Mem->GetPlayerDistance(side,player),
			 Mem->GetPlayerAngleRad(side,player),&x,&y);
  sprintf(Announcement,SAY_PLAYER_COORDS_MSG,side,player,x,y); 
  SAY(Announcement);         
  return 0;
}
/*
#define ANNOUNCEPLAYERCOORDINATES(a,b) AnnouncePlayerCoordinates(a,b)
#define ANNOUNCETEAMMATECOORDINATES(a) AnnouncePlayerCoordinates(Mem->MySide,a)
#define ANNOUNCEOPPONENTCOORDINATES(a) AnnouncePlayerCoordinates(Mem->TheirSide,a)
*/

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

int PingPlayer(char side, int player){
  char Announcement[MAXMESG];
  sprintf(Announcement,PING_PLAYER_MSG,side,player); 
  SAY(Announcement);         
  return 0;
}
#define PINGPLAYER(a,b) PingPlayer(a,b)
#define PINGTEAMMATE(a) PingPlayer(Mem->MySide,a)
#define PINGOPPONENT(a) PingPlayer(Mem->TheirSide,a)

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

int AssignMark(int unit, int player, int mark){
  if ( !Mem->IsUnitMember(unit,player) || 
       !Mem->IsUnitCaptain(unit,Mem->MyNumber) )
    my_error("Only captains can assign their unit-members marks");

  char Announcement[MAXMESG];
  sprintf(Announcement,MARK_ASSIGN_MSG,mark,player); 
  SAYTOUNIT(unit, Announcement);         
  return 0;
}
/*#define ASSIGNMARK(a,b,c) AssignMark(a,b,c)*/

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

int AssignPosition(int unit, int player, int position){
  if ( !Mem->IsUnitMember(unit,player) || 
       !Mem->IsUnitCaptain(unit,Mem->MyNumber) )
    my_error("Only captains can assign their unit-members positions");

  char Announcement[MAXMESG];
  sprintf(Announcement,POSITION_ASSIGN_MSG,position,player); 
  SAYTOUNIT(unit, Announcement);         
  return 0;
}
/*#define ASSIGNPOSITION(a,b,c) AssignPosition(a,b,c)*/

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

int SayPassDataTo(int player){
    char outStream[MAXMESG];
    char dataStream[MAXMESG];
    GetPassData(outStream, player, 'd');/* Get the data stream              */
    StrReplace(outStream,',',COMMA_STANDIN);
    sprintf(dataStream,DATA_MSG,outStream);/* Put on the DATA_MSG tag       */
    SAYTO(player,dataStream);
}
/*#define SAYPASSDATATO(a) SayPassDataTo(a)*/

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

void HearCoach(char *msg, int time){

  if ( msg[0] <= 'z' && msg[0] >= 'a' ) 
    my_error("Coach messages should be capitalized");

  if ( !strncmp(msg,RESET_MSG,5) ){ /* A reset message              */
    Mem->Reset();
  }
  else if ( !strncmp(msg,NEW_COACH_MSG,5) ){
    Mem->NewCoach = TRUE;
  }
  else if ( !strncmp(msg,SAVE_MSG,4) ){
    RecordCollectResult(COLLECT_SAVE);
/*    Mem->Reset();*/
    Mem->RecordCollectData = TRUE;
  }
  else if ( !strncmp(msg,MISS_MSG,4) ){
    RecordCollectResult(COLLECT_MISS);
/*    Mem->Reset();*/
    Mem->RecordCollectData = TRUE;
  }
  else if ( !strncmp(msg,GOAL_MSG,4) ){
    RecordCollectResult(COLLECT_GOAL);
/*    Mem->Reset();*/
    Mem->RecordCollectData = TRUE;
  }
  else if ( !strncmp(msg,PASS_SUCCESS_MSG,4) ){
    RecordPassResult(PASS_SUCCESS);
  }
  else if ( !strncmp(msg,PASS_FAILURE_MSG,4) ){
    RecordPassResult(PASS_FAILURE);
  }
  else if ( !strncmp(msg,PASS_MISS_MSG,4) ){
    RecordPassResult(PASS_MISS);
  }
  else if ( !strncmp(msg,TEST_KICK_MSG,TEST_KICK_MSG_LEN) ){
    float param1, param2, param3;
    sscanf(msg,TEST_KICK_MSG,&param1,&param2,&param3);
    
    TESTKICKPARAMETERS(param1,param2,param3);
  }
  else if ( !strncmp(msg,TEST_COLLECT_MSG,TEST_COLLECT_MSG_LEN) ){
    float param1, param2, param3, param4, param5, param6, param7, param8, param9, param10;
    sscanf(msg,TEST_COLLECT_MSG,&param1,&param2,&param3,&param4,
	   &param5,&param6,&param7,&param8,&param9,&param10);
    Mem->RecordCollectData = FALSE;
      
    if ( Mem->OriginalBehavior == JUSTIN_COLLECT ){
      while( !Mem->RecordCollectData ){
	Mem->NewSight = FALSE;    /* Undo the sight bit */
	Mem->ClearAction();
	TESTCOLLECTPARAMETERS(param1,param2,param3,param4, param5, 
			      param6, param7, param8, param9);
	if ( !Mem->NewSight )
	  WAITFORSIGHT;
      }
    }
    else if ( Mem->OriginalBehavior == SHOOT ){
      while( !Mem->RecordCollectData ){
	Mem->NewSight = FALSE;    /* Undo the sight bit */
	Mem->ClearAction();
	SHOOTATANGLE(100,param10);
	if ( !Mem->NewSight )
	  WAITFORSIGHT;
      }