parsevisual.cpp

2002年

#include "parsevisual.h"
#include "utils.h"
#include "worldmodel.h"
#include "perceptron.h"

#define NOCHNGINFO -500
#define NOFACEINFO -500

void VisualUnkPlayer::update(){	
	Vector rpos = Polar2Vector(seenpos.x, seenpos.y);
	pos = rpos.Rotate(Self.Headfacing(t)) + Self.Pos(t);
}

/************************	Visual Information Process	***************************/
void VisualInfoProcess::UpdateUnkPlayers(Time t){
	if(!rec_sight_info.ChkData(t)) return;
	int i;
	for(i = My_Unk_Players.Data(t).Num_datas()-1; i>=0; i--){
		My_Unk_Players.Data(t).Data(i).update();
	}
	for(i = Their_Unk_Players.Data(t).Num_datas()-1; i>=0; i--){
		Their_Unk_Players.Data(t).Data(i).update();
	}
	for(i = Teamless_Players.Data(t).Num_datas()-1; i>=0; i--){
		Teamless_Players.Data(t).Data(i).update();
	}
}

int VisualInfoProcess::MySightInterval(){  
	int interval = ServerParam::send_step;  
	if ( ViewWidth == VW_Narrow ) interval /= 2;  
	else if ( ViewWidth == VW_Wide ) interval *= 2;
	if ( ViewQuality == VQ_Low ) interval /=2;  
	return interval;
}

int VisualInfoProcess::SightInterval(VIEWWIDTH view_width, VIEWQUALITY quality){ 
	int interval = ServerParam::send_step;
	if ( view_width == VW_Narrow ) interval /= 2;
	else if ( view_width == VW_Wide ) interval *= 2;
	if ( quality == VQ_Low ) interval /=2;
	return interval;
}



void VisualInfoProcess::IdentifyMyGoalie(UNum No,bool IsGoalie){
	MyPlayer(No).Is_goalie = IsGoalie;
	if(IsGoalie) FieldInfo.mygoalie = No;
} 

void VisualInfoProcess::IdentifyTheirGoalie(UNum No,bool IsGoalie){
	TheirPlayer(No).Is_goalie = IsGoalie;
	if(IsGoalie){
		FieldInfo.theirgoalie = No;
	}
}

MarkerType VisualInfoProcess::ClosestGoal(){
	if (Self.pos.x < 0)
		return MyGoal;
	else
		return TheirGoal;
}

MarkerType VisualInfoProcess::ClosestFlag(){
	Vector gap = Self.pos - PitchInfo.Markers[LastClosestMarker].pos;
	if (gap.mod() > 1)
		return No_Marker;
	else
		return LastClosestMarker;
}



void VisualInfoProcess::Parse_Fullstate(Time time, char* SensoryInfo){	
	rec_sight_info.Setdata(true, time);
	
	char* msg = SensoryInfo;
	char* pmsg_ball = strstr(msg,"(ball ");
	if(pmsg_ball == NULL) return;
	float posx = get_float(&pmsg_ball);
	float posy = get_float(&pmsg_ball);
	float velx = get_float(&pmsg_ball);
	float vely = get_float(&pmsg_ball);
	FullSeeBall(time, posx, posy, velx, vely);
	pmsg_ball ++;
	char side;
	int number;
	float bodyangle,neckangle;
	int stamina;
	float effort,recovery;
	while(*pmsg_ball && *pmsg_ball != ')'){
		while(*pmsg_ball == ' ') pmsg_ball++;
		if(*pmsg_ball == '('){
			side = *(++pmsg_ball);
			number = get_int(&pmsg_ball);
			posx = get_float(&pmsg_ball);
			posy = get_float(&pmsg_ball);
			velx = get_float(&pmsg_ball);
			vely = get_float(&pmsg_ball);
			bodyangle = get_float(&pmsg_ball);
			neckangle = get_float(&pmsg_ball);
			stamina = get_int(&pmsg_ball);
			effort = get_float(&pmsg_ball);
			recovery = get_float(&pmsg_ball);
			FullSeePlayer(time, side, number, posx, posy, velx, vely, bodyangle, neckangle, stamina, effort, recovery);
			pmsg_ball ++;
		}
	}
}

void VisualInfoProcess::FullSeePlayer(Time time, char playerside, int No, float posx, float posy, float velx, float vely, float bodyangle, float neckangle, int stamina, float effort, float recovery){
	if(situation.MySide == 'r'){
		posx *= -1.0f;
		posy *= -1.0f;
		velx *= -1.0f;
		vely *= -1.0f;
		bodyangle = NormalizeAngle(bodyangle + 180.0f);
	}
	GetPlayer(playerside, No).FullSee(Vector(posx, posy), Vector(velx, vely), time);
	GetPlayer(playerside, No).FullSeePlayer(bodyangle, neckangle, stamina, effort, recovery, time); 
}

void VisualInfoProcess::FullSeeBall(Time time, float posx, float posy, float velx, float vely){
	if(situation.MySide == 'r'){
		posx *= -1.0f;
		posy *= -1.0f;
		velx *= -1.0f;
		vely *= -1.0f;
	}
	ball.FullSee(Vector(posx, posy), Vector(velx, vely), time);
}

void VisualInfoProcess::SeeMarker(MarkerType marker,AngleDeg ang,Time time){
	//there are so many marker, foget those without known distance
	//this rem is non-trivial, because update assume all markers's distance is known
	
	//Markers[marker].set_polar(ang,time);
	//SeenMarkers.Data(time)[[num_seenmarkers.Data(time)++]] = marker;
}

void VisualInfoProcess::SeeMarker(MarkerType marker,float dist,AngleDeg ang,Time time){
	PitchInfo.Markers[marker].set_polar(ang,dist,time);
	SeenMarkers.Setdata(marker, num_seenmarkers.Data(time)++, time);
}

void VisualInfoProcess::SeeLine(SideLine line,AngleDeg ang,Time time){
	PitchInfo.Lines[line].set_polar(ang,time);
	SeenLines.Setdata(line, num_seenlines.Data(time)++, time);
}

void VisualInfoProcess::SeeLine(SideLine line ,float dist,AngleDeg ang,Time time){
	PitchInfo.Lines[line].set_polar(ang,dist,time);
	SeenLines.Setdata(line, num_seenlines.Data(time)++, time);
}

void VisualInfoProcess::SeeBall(AngleDeg ang,Time time){
	ball.set_polar(ang,time);
}

void VisualInfoProcess::SeeBall(float dist,AngleDeg ang,Time time){
	ball.set_polar(ang,dist,time);
}

void VisualInfoProcess::SeeBall(float dist,AngleDeg ang,float distChng,float dirChng,Time time){
	ball.set_polar(ang,dist,time);
	ball.set_chinfo(distChng,dirChng,time);
}

void VisualInfoProcess::SeePlayer(AngleDeg ang,Time time){
	//距离不知时,暂时放弃
	return;
}

void VisualInfoProcess::SeePlayer(float dist, AngleDeg ang,Time time){
	VisualUnkPlayer p;
	p.Is_side_known = false;
	p.set_polar(dist, ang, time);
	Teamless_Players.Data(time).Add(p);
}

void VisualInfoProcess::SeePlayer(char player_side, AngleDeg ang,Time time){
	//距离不知时,暂时放弃
	return;
}

void VisualInfoProcess::SeePlayer(char player_side,float dist,AngleDeg ang,Time time){
	VisualUnkPlayer p;
	p.set_polar(dist, ang, time);
	
	if(player_side == situation.MySide){		
		My_Unk_Players.Data(time).Add(p);
	}else{
		Their_Unk_Players.Data(time).Add(p);
	}
}

void VisualInfoProcess::SeePlayer(char player_side,UNum NO,AngleDeg ang,Time time,bool IsGoalie){
	if(player_side == situation.MySide){
		MyPlayer(NO).set_polar(ang,time);
		IdentifyMyGoalie(NO, IsGoalie);
	}
	else{
		TheirPlayer(NO).set_polar(ang,time);
		IdentifyTheirGoalie(NO, IsGoalie);
	}
}

void VisualInfoProcess::SeePlayer(char player_side,UNum NO,float dist,AngleDeg ang,Time time,bool IsGoalie){
	if(player_side == situation.MySide){
		MyPlayer(NO).set_polar(ang,dist,time);		
		IdentifyMyGoalie(NO, IsGoalie);
	}
	else{
		TheirPlayer(NO).set_polar(ang,dist,time);		
		IdentifyTheirGoalie(NO, IsGoalie);
	}
}

void VisualInfoProcess::SeePlayer(char player_side,UNum NO,float dist,AngleDeg ang,float distChng,
								  float dirChng,AngleDeg facedir,AngleDeg neckdir,Time time,bool IsGoalie){
	if(player_side == situation.MySide){
		MyPlayer(NO).set_polar(ang,dist,time);
		MyPlayer(NO).set_chinfo(distChng,dirChng,time);
		MyPlayer(NO).set_fcinfo(facedir, neckdir,time);
		IdentifyMyGoalie(NO, IsGoalie);
	}
	else{
		TheirPlayer(NO).set_polar(ang,dist,time);
		TheirPlayer(NO).set_chinfo(distChng,dirChng,time);
		TheirPlayer(NO).set_fcinfo(facedir, neckdir,time);
		IdentifyTheirGoalie(NO, IsGoalie);
	}
}

/***********************Parse	Visual	Version 7.0**************************************/

void ParseVisualV7::ParseData()
{
	/************************************/
	ang = get_float(&SightInfo);
	if ( *SightInfo != ')' ) /* 'high' quality     */
	{	
		view_qual = VQ_High;
		dist = ang;
		ang = get_float(&SightInfo);
	}
	else /* 'low ' quality */
	{
		view_qual = VQ_Low;
	}
	
	
	if ( view_qual != ViewQuality ) my_error("View quality %d correct?",view_qual);
	if ( *SightInfo != ')' )
	{	
		distChng = get_float(&SightInfo);
		dirChng  = get_float(&SightInfo);
	}
	if ( *SightInfo != ')' )
	{
		if (object_type != OBJ_Player) my_error("Only players should have facedir");
		facedir = get_float(&SightInfo);
		neckdir = get_float(&SightInfo);
	}
	if ( *SightInfo != ')' ) my_error("Should be done with object info here");
	SightInfo++;                                /* ")" */
}

void ParseVisualV7::ParseName()
{
	get_word(&SightInfo);        /* " ((" */
	
	if ( *SightInfo=='g' ){
		
		object_type = OBJ_Marker;/* it is  a "goal " */
		SightInfo += 2;
		if ( *SightInfo=='r' )			marker = Goal_R; 
		else if ( *SightInfo=='l' )     marker = Goal_L; 
		else my_error("goal ?");
	}
	else if ( *SightInfo=='G' ){
		object_type = OBJ_Marker_Behind;
		marker = ClosestGoal();
	} 
	else if ( *SightInfo=='f' ){
		object_type = OBJ_Marker;
		ParseFlagName( );
	}
	else if ( *SightInfo=='F' ){
		
		object_type = OBJ_Marker_Behind;
		marker = ClosestFlag(); // could be No_Marker
	}
	else if ( *SightInfo=='l' )
	{
		object_type = OBJ_Line;
		SightInfo+=2;          // "line "
		if ( *SightInfo=='r' ) line   = SL_Right;
		else if ( *SightInfo=='l' )line   = SL_Left;
		else if ( *SightInfo=='t' )line   = SL_Top;
		else if ( *SightInfo=='b' )line   = SL_Bottom;
		else my_error("line ?");	
	}
	else if ( *SightInfo=='p' || *SightInfo=='P' )
	{
		object_type = OBJ_Player;
		ParsePlayerName();
	}
	else if ( *SightInfo=='b' || *SightInfo=='B' ) object_type = OBJ_Ball;
	else my_error("unknown object");
	advance_to(')',&SightInfo);              // advance to end of object
}


void ParseVisualV7::Parse_Sight(Time ti, char *SI)
{ 	
	SightInfo = SI;
	time = ti;
	
	rec_sight_info.Setdata(true, time);
	marker = No_Marker;
	line = SL_No_Line;
	closestMarker = No_Marker;
	
	
	/* Reset some values */
	num_seenlines.Setdata(0, time);
	num_seenmarkers.Setdata(0, time);
	LastClosestMarker = GetClosestMarker(sensory.PrevSightTime);
	ClosestMarker.Setdata(No_Marker, time);
	My_Unk_Players.Data(time).Reset();
	Their_Unk_Players.Data(time).Reset();
	Teamless_Players.Data(time).Reset();
	
	while (*SightInfo != ')'){
		
		dirChng = NOCHNGINFO;
		facedir = NOFACEINFO;
		neckdir = NOFACEINFO;
		player_number = player_side = 0;
		////////////////////		
		ParseName();
		/////////////////////
		ParseData();
		/////////////////////
		switch (object_type)
		{  
		case OBJ_Marker:
		case OBJ_Marker_Behind:		OBJisMarker();	break;
		case OBJ_Line:				OBJisLine();	break;
		case OBJ_Ball:				OBJisBall();	break;	
		case OBJ_Player:			OBJisPlayer();
		}
	}
}


void ParseVisualV7::ParsePlayerName()
{
	SightInfo += 1;            /* it is a "player" */
	if ( *SightInfo == ' ' ) /* there's a team */ 
	{
		SightInfo += 2;
		if ( !strncmp(SightInfo,MyTeamName,MyTeamNameLen) && *(SightInfo+MyTeamNameLen) == '"'  )
			player_side = situation.MySide;
		else
		{
			if ( TheirTeamName[0] == 0 )
			{	
				int a=0;
				while ( *SightInfo != '"' ){ 
					TheirTeamName[a++]=*SightInfo++;
				}
				TheirTeamNameLen = strlen(TheirTeamName);
			}
			player_side = situation.TheirSide;
		}
		while ( *SightInfo != ' ' && *SightInfo != ')' ) SightInfo++; /* advance past team name */
		if ( *SightInfo== ' ' )/* there's a number */
		{
			player_number = get_int(&SightInfo);
			if( *SightInfo== ' '){/*It's goalie*/
				get_word(&SightInfo);
				IsGoalie = true;
			}else{
				IsGoalie = false;
			}
		}
	}
}


void ParseVisualV7::OBJisPlayer()
{
	if ( !player_side )    /* Too far for team or num */
	{
		if ( view_qual == VQ_Low )                /* low quality   */
			SeePlayer(ang, time);
		else if ( dirChng == NOCHNGINFO )                   /* high quality  */
			SeePlayer(dist, ang, time);
		else                              /* know direction*/
			my_error("Shouldn't know dirChng when the player's far");
	}  
	else
	{	
		if ( !player_number )  /* Too far for number     */
		{	
			if ( view_qual == VQ_Low )                /* low quality   */
				SeePlayer(player_side, ang, time);