news

2009 ROBOCUP 仿真2DSERVER 源码

  (init myteam mycoach (version 6))

  are all valid online coach init string.

  At the end of the game, the logfiles are renamed and if the online
  coach specifies a coachname when it connects, then _COACHNAME is
  added after the team name.

  e.g.

  200305081101-test_coach_1-vs-test2_coach2_2.rcl

  is an example of a log file for 'team' vs 'team2', where 'team' had
  an online coach called 'coach' and 'team2' had an online coach
  called 'coach2'.

  * Fixed a defect where pointing players were sent twice in a see
  message.

[9.3.7]
  * Fixed defect in the sending of team graphics to monitors where the
  first line of the data was repeated and there was no space between
  team_graphic_{l|r} and(.  Thanks got to Matus Horvath for reporting
  the problem and providing the patch.

  * Fixed gcc3.3 compilation problem.

[9.3.6]
  * Fixed defect that caused a segmentation fault when a player
  reconnected.

[9.3.5]
  * Fixed bug in the handling of ear on/off commands sent by players,
  where partial and complete where inverted.

  * To help with future user problems, the server now also outputs at
  startup the version of rcssbase being used.

  * Fixed catch_fault_r string which was perviously cacth_fault_r.

  * Fixed online coach releated seg fault.  This may have been caused
  if a coach tryed to connect after a coach had already connected and
  disconnected for the same team.

  * A bug was fixed that was causing nested conditions in CLang to be
  restructured in logically incorrect way.

[9.3.4]
  * The default values for tackle_dist and tackle_width have been
  changed to 2.0 and 1.0 respectively.  You will either need to change
  these manually in your ~/.rcssserver-server.conf remove your
  ~/.rcssserver-server.conf to have the defaults regenerated.

  * Added constraint such that substitutions are not allowed after
  the normal and extra halfs have passed. It is thus not possible
  anymore to make substitutions during or just before the penalty
  shootouts.

[9.3.3]
  * The rcsoccersim script will now report errors if the server or a
  monitor cannot be found.  The script has also been modifed to use
  the monitor specified by the RCSSMONITOR enviroment variable as the
  default monitor (this can be handy of you use your own monitor or
  wish to change the default to the classic monitor).  If RCSSMONITOR
  is not set, the script will try to use either rcssmonitor or failing
  that, rcssmonitor_classic.  At anytime you can override the default
  by using the -frameview and -classic options.

  * Fixed bug where recover_init was sent to v8 players when it
  shouldn't have been.

  * Some build problems on OS X have now been fixed.  The server seams
  to work on OS X, if built statically.  For dynamic libs to work you
  will at the very least need to rebuild the libtool and auto*
  components by running

  aclocal
  glibtoolize --force --copy
  aclocal
  autoheader
  automake --add-missing --copy
  autoconf

  from the rcssserver directory.  There may be other problems that I
  am unaware of.

[9.3.2]
  * RCSSClient can now be compiled without ncurses on systems that do
  have ncurses, by using the '--without-ncurses' parameter to configure.

  * The SED environment variable is now set automatically in the
  libtool script, during configure.

  * Fixed crash during initialization of default server paramters on
  Solaris platforms

  * RCSServer now will compile with either sstream or strstream,
    depending on which is available.

[9.3.0]
  * Fixed bug in synch mode that would cause the server to send
  "think" commands to disconnected clients and wait for a response
  from them.

  * Fixed bug in flex usage that would require manual editing of the
  generated source files on some systems.  This bugs would only affect
  people who are checking out the code from CVS, those editing the .ll
  files or those rebuilding the generated code for other reasons.

  * Fixed bug in synch mode that would result in a server crash when
  clients disconnect.

  * Fixed bug that allowed kicks and tackles after the end of the match.

  * Fixed bug where the effort_init server parameter was not set, not used,
  but sent to players as part of the server param message.

  * Fixed bug where the recover_init server parameter was not set, not used,
  but sent to players as part of the server param message.

  * Added automatic penalty mode.

  First of all two different server parameters have been added that specify
  how many halfs are played:
  nr_normal_halfs (default=2) - number of halfs that are always fully played
  nr_max_extra_halfs          - number of extra halfs when score is a draw
                                golden goal rule applies in these halfs

  If no goals are scored and the server parameter penalty_shootouts is true,
  the automatic penalty mode is started.

  New play modes, messages and server parameters have been introduced:

  New PlayModes:
  PM_PenaltySetup_Left/Right (message: penalty_setup_l/r)
  PM_PenaltyReady_Left/Right (message: penalty_ready_l/r)
  PM_PenaltyTaken_Left/Right (message: penalty_taken_l/r)
  PM_PenaltyMiss_Left/Right  (message: penalty_miss_l/r)
  PM_PenaltyScore_Left/Right (message: penalty_score_l/r)

  Messages:
  penalty_onfield_l/r
  penalty_foul_l/r
  penalty_winner_l/r
  penalty_draw

  Server parameters
  pen_before_setup_wait
  pen_setup_wait
  pen_ready_wait
  pen_taken_wait
  pen_nr_kicks
  pen_max_extra_kicks
  pen_dist_x
  pen_max_goalie_dist_x
  pen_allow_mult_kicks
  pen_random_winner

  The procedure is as follows

  1. The referee announces on which side the penalties will be taken using
     the message (penalty_onfield_l/r).

  2. The ref moves the ball to the penalty mark, which is on a distance of
     pen_dist_x from the goal.

  3. The ref chooses a team to start at random and announces it
    (penalty_setup_l/r).

  4. The referee then waits pen_setup_wait cycles and then checks whether the
     players are moved according to the following rules:
     - the defending goalie must move to within goalie_pen_line_dist meter of
       the goal line and between the posts
     - the other goalie must move behind the goal line and outside the penalty
       area line (the only exception is when the goalie takes the penalty)
     - the defending players and the teammates of the player must move
       within the center circle.
     - one of the players of the team that takes the penalty has to move within
       2 meters of the position of the ball. One player is not allowed to be
       the penalty taker again before all eleven players (including the goalie!)
       have taken a penalty.
     If after pen_setup_wait cycles one or both teams do not obey the above
     rules the penalty is over. In case the attacking team makes a mistake, it
     is counted as a miss, otherwise as a score.
     If both teams obey the rules, the mode changes to
     PM_PenaltyReady_Left/Right

  5. The attacker then has pen_ready_wait cycles to take the first kick.
     If one of the rules of 4 is not obeyed during these cycles or the time has
     elapsed, the penalty is over and is counted as a foul for that team.
     After this first kick, the play mode changes to
     PM_PenaltyTaken_Left/Right..

  6. Depending on the server paramater pen_allow_mult_kicks the attacker is
     now allowed to kick the ball again or not. When the ball is catched or
     passed the goalline within pen_taken_wait cycles, it is either called a
     miss or a score (depending where the ball crossed the goalline)
     immediately.
     When pen_taken_wait cycles have elapsed without a catch or the ball passing
     the goalline, it is also called a miss. In case of a miss the play mode
     changes to  PM_PenaltyMiss_Left/Right, otherwise to
     PM_PenaltyScore_Left/Right.

  7. Now it is checked whether one of the teams has won.
     One of the two teams has won when.
     - pen_nr_kicks penalties have been played and one team has scored more
       goals than the other
     - less than pen_nr_kicks have been played but one of the teams can never
       get to the score of the other team within pen_nr_kicks
     - it was a draw after pen_nr_kicks but after an even number of extra
       penalties sessions (less than pen_max_extra_kicks) one team has scored
       more goals
     In the case of a win the message pen_winner_l/r is communicated and the
     playmode changes to PM_TimeOver.
     Otherwise when pen_nr_kicks + pen_max_extra_kicks have been played, the
     game is a draw. Depending on the parameter pen_random_winner the server
     picks a random winner or not. In the latter case the message pen_draw is
     communicated.
     In all other situations, and no team has won yet, the referee goes back to
     2 after pen_before_setup_wait cycles.

  *  Changed file format of log files and game logs because of possible
     automated penalties after a match. The new format is as follows:

     {date}-{team_l_info}-vs-{team_r_info}.rc[gl]

     where {team_[lr]_info} looks as follows:
      {team}_{score}[_{pen_score}[w]]

     with
      team:      name of the team
      score:     goals scored by this team (excluding penalty goals)
      pen_score: scored penalty of this team (optional)
      w:         optional winner indication when penalties were also a draw
                 and this team was the random winner (pen_random_winner: on)

     Possible examples are
     - normal game without penalties
         200303180158-MRB2003_1-vs-UvA_Trilearn_2.rg
     - with penalties
         200303180158-MRB2003_1_4-vs-UvA_Trilearn_1_5.rg
     - with penalties, pen_nr_kicks + pen_max_extra_kicks didn't bring a
       winner and no winner was picked randomly (pen_random_winnner: off)
         200303180158-MRB2003_1_7-vs-UvA_Trilearn_1_7.rg
     - penalties was also a draw and winner (Trilearn) was picked randomly
         200303180158-MRB2003_1_4-vs-UvA_Trilearn_1_4w.rg

[9.2.4]
  * Fixed defect that would incorrectly award an indirect free kick to
  the right team after a catch fault by the right team.  An indirect
  free kick to the left team is now awarded.

  * Fixed defect that would cause compilation to fail with gcc3.2

[9.2.3]
  * Fixed defect where the server would not send version 9 parameters
  to version 9 coaches.

[9.2.2]
  * Fixed defect where the server would send "(ok move)" to the offline
  coach after it issued a move command, even if there was no such
  object that could be moved.  Now the server sends
  "(error illegal_object_form)".

  * Clients can now connect specifying version 9 as the protocol
  version.  This simply adds support for the new server parameters
  that have been introduced.

[9.2.1]
  * Offsides are now no longer possible from a kick-in, goal-kick or
  corner-kick.  This is in compliance with FIFA regualtions.

  * A new limitation has been added to the random player types (hetero
  players) which prevents players from having a maximum speed above
  the default player and consume less stamina at maximum speed than
  the default player.

[9.2.0]
  * Configuration now fails if the SED environment variable is not
  set.  Libtool needs this to be set to function correctly

  * Goal posts have now been added.  They are circular with a radius
  of 6cm and they are located at:

  x = +- (FIELD_LENGTH*0.5 - 6cm)
  y = +- (GOAL_WIDTH*0.5 + 6cm)

  The goal posts have different collision dynamics than other
  objects. An object collides with a post if it's path gets within
  object.size + 6cm of the center of the post.  An object that
  collides with the post bounces off elastically.

  * The dynamics of the goalie catch have now changed.  If the goalie
  successfully catches a ball it is moved adjacent to and facing the
  ball and both the goalie and ball have their velocities set to
  zero.  When the goalie moves, dashes or turns while the ball is
  caught, the ball remains adjacent to and directly in front of the
  goalie.

  * The goalie can now issue catch commands at any location.  If the
  catch is successful, and the ball is outside of the penalty area or
  if the goalie moves the ball outside of the penalty area and it's
  still in the field, an indirect free kick is awarded to the opposing
  team at the ball's current location. If a caught ball is moved over
  the goal line but not inside the goal, a corner kick is awarded.  If
  a caught ball is moved into the goal, a goal is awarded.

  * Checking for goals, out of bounds and within penalty area no
  complies with FIFA regulations.  For a goal to be scored the ball
  must be totally within the goal - i.e.

  |ball.x| > FIELD_LENGTH*0.5 + ball_radius

  Similarly the ball must be completely out of the pitch before it is
  considered out - i.e

  |ball.x| > FIELD_LENGTH*0.5 + ball_radius ||
  |ball.y| > FIELD_WIDTH*0.5 + ball_radius

  Lastly the ball is within the penalty area (and thus catchable) if
  the ball is at least partially within the penalty area - i.e.