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2009 ROBOCUP 仿真2DSERVER 源码

  |ball.y| <= PENALTY_WIDTH*0.5 + ball_radius &&
  |ball.x| <= FIELD_LENGTH*0.5 + ball_radius &&
  |ball.x| >= FIELD_LENGTH*0.5 - (PENALTY_LENGTH*0.5 + ball_radius)

[9.1.5]
  * Fixed bug in static compilation

  * Fixed crash on win32 systems where the USER environment variable
    has not been set.  The server now reports and error and exits if
    the USER variable is needed (most commonly for locating the config
    files) but not available.

[9.1.4]
  * Fixed compilation problems introduced by libtools 1.4.3 on
  platforms where the SED environment variable is not set.

  * Fixed compilation bug on some platformsm due to an invalid
  preprocessor directive

[9.1.3]
  * Fixed bug which would cause terminiation of the server due to
  problems with audio messages and the associated random number generator.

[9.1.2]
  * Fixed bug in configuration that would prevent the detection of
  certain libraries when rcssserver is configured before rcssbase is built.

[9.1.1]
  * Fixed compilation problem on some platforms due to
  incompatibilities between gcc3.2 and inttypes.h

  * Fixed bug in static compilation when rcssbase has not yet been
  installed.

[9.1.0]
  * The server now supports a new game: Keepaway.  In this game, the
  left team (the "keepers") attempt to keep the ball away from the right
  team (the "takers").  An episode ends when the takers capture the ball
  or the ball leaves the rectangular play region.  When this happens,
  the referee sends a message "training Keepaway 1" to the players
  indicating that the episode has ended.

  In Keepaway mode, the simulator logs episode data to a ".kwy" file.
  This log file records the episode start/end times, the episode
  duration, and the condition under which the episode ended.

  To play Keepaway, turn on the 'keepaway' parameter.  You can specify
  the number of players on each team and the size of the play region
  using additional parameters.  A full list of options can be found in
  the "rcssserver-server.conf" file.

  When using this feature, it is strongly recommended that you turn
  off the offside rule.  Also, it is recommended that you set the
  halftime to -1.  To start the server in Keepaway mode using the
  default options:
  rcssserver -keepaway on -use_offside off -half_time -1

  Also see the 'm_keepaway' parameter of the monitor to use the
  Keepaway field layout.

  Details of the Keepaway task as well as some sample experiments can
  be found in the following article available from
  http://www.cs.utexas.edu/~pstone/papers.html.

  @Incollection(StoneSutton2001,
        Author="Peter Stone and Richard S. Sutton",
        Title="Keepaway Soccer:  a Machine Learning Testbed",
        booktitle= "{R}obo{C}up-2001: Robot Soccer World Cup {V}",
        Editor="Andreas Birk and Silvia Coradeschi and Satoshi Tadokoro",
        Publisher="Springer Verlag",address="Berlin",year="2002")

  Support for Keepaway in the rcssserver and rcssmonitor was
  implemented by Greg Kuhlmann.

  * The server now supports dlopening libraries.  The intention is to
  allow dlopening of players at some stage, but to test the concept,
  the timers are now dlopened on platforms that support it.  This also
  means that if you specify a prefix to configure, you *must* not use
  relative directories, otherwise the server won't be able to find the
  libraries.  To disable dlopening use the --disable-shared flag to
  configure.

  * Fixed incorrect back pass detection when a player tackles the
  ball.

  * Fixed incorrect back pass detection when players from both teams
  kick or tackle the ball

  * Fixed incorrect initialisation of kick_off_wait and connect_wait
  parameters which are used for automatic mode.

  * Visuals have been re-written (again), this time using the
  sender-serializer design which was initially used with audio
  messages.  While making the code a lot simpler and easier to
  maintain, it also resulted in significant performance
  improvements. On my machine, the average time taken to produce
  visuals as decreased by 12.5% and the maximum time taken to produce
  a visual has reduced by 80% (possibly an outlier).

  * The server now will wait till the left team has connected at least
  one player before starting the right team.  This only applies when
  using the team_*_start configuration options.  If the team on the
  left does not connect, the right team will not be started.

  * Fixed installation problem with machines that don't have flex.

  * The compression commands now accept -1 to indicate that zlib is
  not to be used (default) and 0 to 9 indicate levels of compression
  as per the zlib library.

[9.0.4]
  * The server.conf file now supports tilde expantion for other users
  (i.e.  ~foobar expands the the home directory of user foobar).
  Thaks go to Marc Butler for providing the patch.

  * RCSSClient now uses the new streaming sockets in rcssbase and is
  multithreaded.  The client no longer accepts the -e option, instead
  simply cat the script file and pipe it to the client.

  * RCSSClient now uses ncurses when it's available to seperate the
  input and output, this can be disabled ( like when you want to
  redirect the output to a file ) by using the -nogui option.

  * RCSSClient's command line argument parseing has changed. Now the
  server and port are specified with '-server SERVER' and '-port PORT'

[9.0.3]
  * Fixed errors in default server.conf generation.  Thanks go to
  Michael Gollin for providing the fix.

[9.0.2]
  * The server can now be run automatically.  When 'auto_mode' is on
  the server will wait 'connect_wait' cycles for the players to
  connect and 'kick_off_wait' cycles before kicking off.  At the end
  of the two halves, the server will wait 'game_over_wait' cycles
  before exiting.  It will not continue into extra time.

  * String command line and .conf parameters may now be enclosed in
    quotes.

  * Two new parameters have been added, 'team_l_start' and
  'team_r_start' that can be used to specify a command to run to start
  the left and right team respectively.  If the command contains a
  space make sure you enclose the entire command in double quotes.

  For instance, to start the left team on 'team_host', connecting to a
  server on 'server_host', one could use something like

  rcssserver -team_l_start "ssh team_host \"~/startMyTeam server_host\""

  or add

  team_l_start : "ssh another_host "~/startMyTeam some_host""

  to the '~/.rcssserver-server.conf' file

[9.0.1]
  * The automatic output of CLang messages as full hear messages has
  been disabled due to problems with output during games.

[9.0.0]
  * CLang messages will now output as

  (hear TIME_SENT online_coach_{left|right} TIME_RECV (message))

  if the side and time recv have been set, otherwise they are output
  as normal.  This is only intended as a convenience feature for
  clients so that they can compare the output of the parsed message
  with the actual message parsed.

  * rcss::clang::Parser now inherits from the new rcss::Parser, found
  in rcssbase/parser.h

  * The CLang lexer is now reentrant, and can only be rebuilt using
    flex.

  * The order in which the search for the rcssbase files is performed
  has changed.  If the "rcssbase" environment variable is set, then it
  will first look in the path specified by "rcssbase".  Next it will
  try to look into rcssbase directly, by assuming rcssserver and
  rcssbase are being installed as part of the larger rcsoccersim
  package.  Failing that it will then search for the headers as it
  would for any other header file.

[8.05]
  [rel_10]
  * Fixed defect where a back passes is detected when the goalie sends
   a catch but the ball is too far away.

  [rel_9]
  * To save on compile time and space, debuging infomration is now
  disabled by default.  Use `./configure CXXFLASG="<YOUR FLAGS>"' to
  overide the new defualt of "-O2".

  * Shared libraries are no longer built by default.  If you want to
  use shared libraries you will need to specify --enable-shared at
  configure time.

  [rel_8]
  * Fixed egcs 2.91.66 compilation problems

  [rel_7]
  * Fixed minor defect which would reverse the order of points in
  CLang Quad, Tri and Rec regions.

  * Fixed defect where quotes where missing from CLang define messages.

  * Fixed defect that would send CLang messages that required support
  for both CLang 7 and CLang 8 to clients that supported only one of
  CLang 7 or CLang 8.

  * Disabled by default the sending of (hear time TEAM [UNUM])
    messages.

  * The type audio messages received by a player can now be enabled
  and disabled via the ear command in the form

  (ear ({on|off} [TEAM] [TYPE]))

  TEAM is "our", "opp", "left", "l", "right", "r" or the team name of
  a team.  If TEAM is omitted, the message will apply to messages from
  both teams.  TYPE is used to specify the type of audio, where
  "complete" or "c" is used to specify messages which contain the
  audio data and "partial" or "p" is used to specify messages which do
  not contain audio data.  If TYPE is not specified, the message will
  apply to both types.

  For example:

  '(ear (on))' enables all audio.
  '(ear (off partial))' disables '(hear time TEAM [UNUM])' messages.
  '(ear (on our complete))' enables '(hear time TEAM [UNUM] "message")'
  messages from the players team mates.
  '(ear (off opp))' disables all audio from opponent players.

  * Fixed compilation problem on GCC 2.96

  * Added support for queueing of CLang RuleMsgs and DelMsgs.  The
  number of these types of messages that can be sent each CLang
  windows is specifed by two new parameters, 'clang_rule_win' and
  'clang_del_win', both of whcih have defaults of 1.

  * Fixed bug with proper goal kicks which would award a goal kick to
  the opposition it a opposing team member kicked the ball when the
  play mode was still goal kick.  Instead the goal kick is retaken.

  * Fixed some problems when compiling on Cygwin

  * Fixed bug that would allow a player to kick the ball if the goalie
  had caught the ball and move on top of the player.

  * Defualt for the offide area is now 2.5

  * Proper goal kicks (aka LAW 16) is now off by default.

  * Fixed rcssclient compilation problem when libz is not detected on
  the system.

  * Replay parameter in no longer available.  This was for some pretty
  old code to replay the games.  This is done by rcsslogplayer instead
  (and has been for a long while).

  * Corrected an old defect that would allow players to dash in before
  kick off and have the acceleration accumulate until the kick off.
  Thanks go to Michael Gollin for reporting this bug and how to
  correct it.

  [rel_6]
  * The team graphic protocol has been changed to make it easier to
  detect and recover from lost messages.  The new format requires the
  256x64 image to be broken up into 8x8 tiles (to make sure it will
  fit into the message to the monitors) and has the form

  (team_graphic (<X> <Y> "<XPM line>" ... "<XPM line>"))

  Where X and Y are the co-ordinates of the 8x8 tile in the complete
  256x64 image, starting at 0 and ranging upto 31 and 7 respectively.
  Each XPM line is a line from the 8x8 xpm tile.

  The server responds with

  (ok team_graphic <X> <Y>)

  The server then sends

  (team_graphic_{l|r} (<X> <Y> "<XPM line>" ... "<XPM line>"))

  to each monitor via the message board.

  * Fixed defaut values for new parameters in server.conf.

  * Fixed defect which would not allow online coaches to substitute a
  player for the same player type if there was already the maximum of
  that player type on the field.

  * Tackle power is no longer reduced by the probablility of the
    tackle.

  * Substitutions are now explicitly recorded in the log-files. The
  message board is now used to record player substitutions in the game
  log and send the data to the monitors in the form

  (change_player_type {l|r} <unum> <player_type>)

  * Fixed problem parsing parameters when compiled with gcc 3.x

  [rel_5]
  * Parameters have been added to enable and disable free kick faults
  and back passes.  They are

  free_kick_faults back_passes

  and they are both enabled by default.

  * Parameters have been added for the enforcement of proper goal
  kicks.  They are

  proper_goal_kicks stopped_ball_vel max_goal_kicks

  and they have default values of on, 0.01 and 3 respectively.

  * The server will no