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2009 ROBOCUP 仿真2DSERVER 源码

        `rcssserver --help`

    for details.  Each namespace provides it's own help information
    via the

	`--<namespace>::help`

    option, where <namespace> is the namespace you require help with.

    Help for a particular module can on be displayed if that module
    has been loaded.  You can load the module and display it's help
    information by using

    	`--load="<libname>" --<namespace>::help`,

    where <libname> is the name of the module you wish to load.  If you
    don't know what namespace the module uses, it will be listed if you
    use

	`--load="<libname>" --help`.

  * Fixed bug that would prevent (on certain platforms) modules from
    being found when the server was installed.

  * Fixed OS X build issues

[10.0.0]
  * Requires RCSSBase 10.0.8

  * The configuration script will now look for a RCSSBASE enviroment
  variable and set the approriate flags to look for the rcssbase
  libraries, headers and exes in the location specified by rcssbase.
  For instance, if rcssbase was configured with a prefix of $HOME,
  then you should configure rcsssever with RCSSBASE equal to $HOME.

  * Modules are now installed into PREFIX/lib/rcssserver/modules and
  server::module_dir paramter should be set to PREFIX/lib/rcssserver/modules,
  where PREFIX is the installation prefix (/usr/local by default or
  /usr if you are using rpms).  You can then specify what modules
  should be loaded by using the server::module parameter (do not include the
  suffix for the library).  The only exception to this is the synctimer and
  stdtimer modules.  In this case the correct module is loaded based on the
  value of server::sync_mode parameter.

  * Fixed defects regarding the slow_down_factor parameter which could alter
  the length of a half or cause the simulator to crash if set too high.

  * Fixed build problems on OS X. The file created in the build directory runs
  but haven't tested beyond that. The installed version has problems
  running because it can find load the modules.  Very strange.  The best
  approach at this stage is to install (so the modules go into the right
  place), but use the exectuable from the build directory.

  * Fixed build problems on Solaris 9. It has a similar problem to the OS X
  build, but it can at least load the std timer.  The version in the build
  directory can load all modules.  The sample client does not build with a
  ncurses interface and `--without-ncurses` must be used during configure.

[9.4.5]
  * Fixed defects in penatly shootouts.  Now if automatic player
  placement is on, only the players out of place are moved.

  * Fixed defect in locating the configuration directory on windows
  systems without cygwin installed.  The config files will now go
  into "My Documents/.rcssserver" on all windows systems.

[9.4.4]
  * Fixed defect that send "halfTime()" to players at half_time,
  rather than "half_time".

  * Fixed defect that would set the ball to not caught immediately
  after it was caught, thus preventing goalies from moving with the
  ball.

[9.4.3]
  * Fixed defect in penalty shootout procedure that made it impossible
  to score when opponent team didn't had a goalkeeper on the field.

  * Fixed defect that called the kickTaken callback instead of the
  ballCaught callback of the referees.

  * Fixed defect that allowed indirect kicks to be circumvented by
  waiting for a drop ball.  Now if a drop ball is awarded, the team
  that was given the indirect free kick cannot score unless the ball
  touches two of it's players or an opponent or the play is stopped
  for some other reason.

  * Fixed defect that would allow the penalty shootout kicker to kick
  the ball in the same cycle that it was caught by the goalie.

  * Fixed defect that would cause the server to go straight into
  penalty shootout mode when the half_time parameter was negative.

  * Fixed defect that would no include the goalies in the list of
  kickers in penalty shootouts.

  * Fixed defect that allowed goalies to move with the ball outside of
  the penalty area.  Now if the goalie moves or dashes while that ball
  is caught and moves the ball out of the penalty area, a catch fault
  is awarded and the ball placed on the closest edge of the penalty
  area, unless the goalie takes it over it's own goal line, in which
  case a goal or corner kick is awarded. The goalie is not moved
  unless it is within 9.15 meters of where the free kick is given.

  * Fixed defect in configuration file generation, where some values
  where written in their modified form (i.e. half_time was 3000
  instead of 300).

  * MySQLSaver will now create the tables it uses if they don't exist
  in the database.  This now means that there is very little setup
  required to start saving results to a MySQL database.  All you need
  to do is start mysqld and create a database for the results and
  grant access to that database.  For instance, something like

  mysql -u root

  mysql> create database `rcss`;
  mysql> grant all privileges on `rcss` to 'myuser';
  mysql> flush privileges;

  should do the trick.

  The start the server with the following options

  MySQLSaver::save=on
  MySQLSaver::db='rcss'
  MySQLSaver::user='myuser'

  and optionally

  MySQLSaver::round_name='the name of the round'
  MySQLSaver::event_name='the name of the event'

  or edit their defaults in ~/.rcssserver/MySQLSaver.conf

  * Fixed bug which caused MySQLSaver and StdOutSaver to always be
  disabled

  * Fixed bug in MySqlSaver in the formating of the time field.

  * Added time output to StdOutSaver.

  * Added CSVSaver.  This module saves the results to a file as comma
  seperated values.  It is turned off by default, but can be enabled
  with the CSVSaver::save option.  The default file is
  "rcssresults.csv", which can be changed with the
  CSVSaver::filename option.  If the file does not exist, it will be
  created.  If it does exist the data will be appended to the end of
  the file.  Each line contains the results for a game in the
  following format:

    TIME, TEAM_LEFT, TEAM_RIGHT, COACH_LEFT, COACH_RIGHT, SCORE_LEFT,
    SCORE_RIGHT, PEN_ATTEMPTS_LEFT, PEN_ATTEMPTS_RIGHT,
    PEN_SCORED_LEFT, PEN_SCORED_RIGHT, COIN_TOSS_WINNER

  Where:

   TIME is in the format %Y-%m-%d %H:%M:%S,
   TEAM_LEFT is the name of the left team in double quotes or NULL
   TEAM_RIGHT is the name of the right team in double quotes or NULL
   COACH_LEFT is the name of the left coach in double quotes or NULL
   COACH_RIGHT is the name of the right coach in double quotes or NULL
   SCORE_LEFT is the number or goals scored by the left team
   SCORE_RIGHT is the number or goals scored by the right team
   PEN_ATTEMPTS_LEFT is the number or penalties attempted by the left
   team or NULL
   PEN_ATTEMPTS_RIGHT is the number or penalties attempted by the right
   team or NULL
   PEN_SCORED_LEFT is the number or penalties scored by the left team
   or NULL
   PEN_SCORED_RIGHT is the number or penalties scored by the right
   team or NULL
   COIN_TOSS_WINNER is LEFT, RIGHT or NULL

  * Fixed problem in locating llimporter

  * The result savers are now loaded before the game.  This way any
  errors in parsing the configuration files or command line are seen
  before the game starts.

  * The MySQLSaver now has a few more parameters.  Please also note
  that the file parameter that was previously mentioned never
  existed.  Use the include parameter instead.  The saver now has a
  port parameter to specify what port should be used for the TCP
  connection.  There is also a unix_socket parameter, to specify the
  name of a socket or named pipe that should be used for the
  connection.  You can enable compression and ssl on the connection by
  using the compress and ssl parameters respectively. You can now
  specify the round_id that the game is part of.  If the round_id is
  not specified, round_name is used, along with the event_id or
  event_name parameters.  If the event_id is specified, then the
  event_name is ignored.

[9.4.2]
  * Fixed bug in build process that would complain that there was not
  target fot the -lrcsslibloader library

[9.4.1]
  * Fixed bugs in CLang that would cause crashed when using point
  arithmetic and comparison operations.

[9.4.0]
  * The server will now try to interprete ~ in filenames correctly on
  Windows platforms.  The code is untested and as such probably
  buggy.  Please provide as much information as possible when
  reporting bugs on this.

  * Added new server parameter option pen_coach_moves_players. When
  this value is set to true and one of the players of a team is not
  standing correctly at the end of the setup period in the penalty
  shootout, all players of this team are repositioned to a legal
  position. If during the penalty a player moves to a invalid
  position, it will be automatically move to the correct position.
  This means that with this option enabled, positional fouls are no
  longer possible during penalty shootouts.

  Do note that the player moved to the position to take the penalty
  shootout is the first of the players in the set of players that have
  not yet taken a shootout. This can thus be the goalkeeper and also
  does not have to be the player positioned closest to the ball.

  * Added a result saver that stores the results in a mysql database.
  This module will only be created if the mysql libraries can be found
  on your system.  This saver read configuration information from the
  command line arguments in the form of

  module::MySQLSaver::PARAM=VALUE

  where PARAM is a configuration parameter and VALUE is the value you
  want to set it to.  The following is the list of parameters
  understood by the MySQLSaver, their default values and a brief
  description:

  +-------+---------+---------------------------------------------+
  | Param | Default | Description                                 |
  +=======+=========+=============================================+
  | host  | ""      | The host name of IP of the machine running  |
  |       |         | the MySQL database.  An empty string        |
  |       |         | indicates that the localhost will be used.  |
  +-------+---------+---------------------------------------------+
  | user  | ""      | The username to use connecting to the       |
  |       |         | database.  The empty string indicates that  |
  |       |         | current unix username will be used          |
  +-------+---------+---------------------------------------------+
  | pass  | ""      | The database password for the user being    |
  |       |         | used.                                       |
  +-------+---------+---------------------------------------------+
  | db    | ""      | The name of the database to use.  An empty  |
  |       |         | string indicates that that default database |
  |       |         | will be used.                               |
  +-------+---------+---------------------------------------------+

  * Added a result saver that prints the results of the game to
  stdout in a human readable format.  You should not try to parse this
  with another program, as no guarantees about it's format are made,
  and it may change from version to version.  If you wish to get text
  results in a parsable format, please create your own module for
  doing so.

  * Added support for saving game results via dynamically loaded
  modules (see below for information about modules).  A result saver
  must inherit from rcss::ResultSaver and on initialisation of the
  module, it must register with rcss::ResultSaver::Factory factory.
  An example of how this is done can be seen in stdoutsaver.cpp.

  * Integrated the new configuration parser in rcssbase. The old
  configuration file format is no longer supported, but can be
  easily converted to the new format using the following awk script.

    awk '/^[ \\t]*$/ {} \
    /^[^#]+[:]/ { gsub(/:/, \"=\" ); $1 = \"server::\" $1; } \
    /^[ \\t]*[^#:=]+$/ { $1 = \"server::\" $1 \" = true\"; } \
    { print; }' \
    oldserver.conf > newserver.conf

  The server uses this technique to read ~/.rcssserver-server.conf if
  it exists and ~/.rcssserver/server.conf (the new conf file) does not
  and then save the configuration to ~/.rcssserver/server.conf.  This
  means that most users will be unaffected by the configuration file
  changes and ~/.rcssserver/server.conf will be created with all their
  current options.

  A similar procedure is used for ~/.rcssserver-player.conf and can
  be used for other player.conf files.

  You will also need to modify any scripts you have that pass
  parameters to rcssserver, by replacing -PARAM VALUE with either
  server::PARAM = VALUE or player::PARAM = VALUE and -sfile FILE and
  -pfile FILE with include = FILE.

  * Added support for automatic module loading.  Modules can be added
  or removed by adding them to the module directory (default is
  /usr/local/share/rcssserver/modules) which can be specified with
  the module_dir server parameter.  On systems where dynamic loading
  is not supported, or static compilation is used, module loading can
  be simulated by using the RCSSSERVER_DLOPEN_LIBS option during
  configure.

  Custom modules must contain the following line

  LIBLOADER_EXPORT( libname, init, fin );

  Where libname is the name of the library without the file extention
  (e.g libstdoutsaver) and init and fin are the names of
  initialisation and finalisation functions for the module.  These
  functions must take not parameters and must return void.

  Your module must also register (and deregister) it's class(es) with
  an object factory (this is usually done in the initialisation and
  finalisation functions), which is used in the server to create
  instances of the class.  Please see the base class's object factory
  interface for more details.

  * Added support for coach names in the log file names.  The online
  init command now has the following format:

  (init TEAMNAME [COACHNAME] [(version X)])

  e.g.

  (init myteam (version 7))
  (init myteam mycoach)