fullstatesender.cpp

2009 ROBOCUP 仿真2DSERVER 源码

    const float quantize_step = .001;
    char side = ( p.side() == LEFT ? 'l' : 'r' );
    serializer().serializeFSPlayerBegin( transport(),
                                         side,
                                         p.unum(),
                                         false, // goalie info not sent
                                         0, // player type info not sent
                                         Quantize( p.pos().x,
                                                   quantize_step ), //pos_x
                                         Quantize( p.pos().y,
                                                   quantize_step ), //pos_y
                                         Quantize( p.vel().x,
                                                   quantize_step ), //vel_x
                                         Quantize( p.vel().y,
                                                   quantize_step ), //vel_y
                                         Quantize( Rad2Deg( p.angleBodyCommitted() ),
                                                   quantize_step ),
                                         Quantize( Rad2Deg( p.angleNeckCommitted() ),
                                                   quantize_step ) ); //neck_angle
    serializer().serializeFSPlayerStamina( transport(),
                                           int( p.stamina() ),
                                           Quantize( p.effort(), .0001 ),
                                           Quantize( p.recovery(), .0001 ),
                                           p.staminaCapacity() );
    serializer().serializeFSPlayerEnd( transport() );
}

/*!
//===================================================================
//
//  CLASS: FullStateSenderPlayerV8
//
//  DESC: version 8 of the full state protocol.
//
//===================================================================
*/

FullStateSenderPlayerV8::FullStateSenderPlayerV8( const Params & params )
    : FullStateSenderPlayerV5( params )
{

}

FullStateSenderPlayerV8::~FullStateSenderPlayerV8()
{

}

void
FullStateSenderPlayerV8::sendSelf()
{
    rcss::geom::Vector2D arm_vec;
    self().arm().getRelDest( rcss::geom::Vector2D ( self().pos().x,
                                                    self().pos().y ),
                             self().angleBodyCommitted()
                             + self().angleNeckCommitted(),
                             arm_vec );
    serializer().serializeFSCounts( transport(),
                                    self().kickCount(),
                                    self().dashCount(),
                                    self().turnCount(),
                                    self().catchCount(),
                                    self().moveCount(),
                                    self().turnNeckCount(),
                                    self().changeViewCount(),
                                    self().sayCount() );
    serializer().serializeArm( transport(),
                               self().arm().getCyclesTillMovable(),
                               self().arm().getCyclesTillExpiry(),
                               arm_vec.getMag(), Rad2IDegRound( arm_vec.getHead() ),
                               self().arm().getCounter() );
}

void
FullStateSenderPlayerV8::sendScore()
{
    int left = 0, right = 0;
    if ( stadium().teamLeft().enabled() )
    {
        left = stadium().teamLeft().point();
    }

    if ( stadium().teamRight().enabled() )
    {
        right = stadium().teamRight().point();
    }

    if ( self().side() == RIGHT )
    {
        std::swap( left, right );
    }

    serializer().serializeFSScore( transport(),
                                   left,
                                   right );
}

void
FullStateSenderPlayerV8::sendBall()
{
    serializer().serializeFSBall( transport(),
                                  stadium().ball().pos().x,
                                  stadium().ball().pos().y,
                                  stadium().ball().vel().x,
                                  stadium().ball().vel().y );
}

void
FullStateSenderPlayerV8::sendPlayer( const Player & p )
{
    char side = ( p.team()->side() == LEFT ? 'l' : 'r' );
    serializer().serializeFSPlayerBegin( transport(),
                                         side,
                                         p.unum(),
                                         p.isGoalie(),
                                         p.playerTypeId(),
                                         p.pos().x,
                                         p.pos().y,
                                         p.vel().x,
                                         p.vel().y,
                                         Rad2Deg( p.angleBodyCommitted() ),
                                         Rad2Deg( p.angleNeckCommitted() ) );

    if ( p.arm().isPointing() )
    {
        rcss::geom::Vector2D arm_vec;
        p.arm().getRelDest( rcss::geom::Vector2D( p.pos().x, p.pos().y ),
                            p.angleBodyCommitted() + p.angleNeckCommitted(),
                            arm_vec );
        serializer().serializeFSPlayerArm( transport(),
                                           arm_vec.getMag(),
                                           arm_vec.getHead() );
    }

    serializer().serializeFSPlayerStamina( transport(),
                                           p.stamina(),
                                           p.effort(),
                                           p.recovery(),
                                           p.staminaCapacity() );

    serializer().serializeFSPlayerEnd( transport() );
}


/*!
//===================================================================
//
//  CLASS: FullStateSenderPlayerV13
//
//  DESC: version 13 of the full state protocol. The tackling or
//  kikcing information are added.
//
//===================================================================
*/

FullStateSenderPlayerV13::FullStateSenderPlayerV13( const Params & params )
    : FullStateSenderPlayerV8( params )
{

}

FullStateSenderPlayerV13::~FullStateSenderPlayerV13()
{

}


void
FullStateSenderPlayerV13::sendPlayer( const Player & p )
{
    char side = ( p.team()->side() == LEFT ? 'l' : 'r' );
    serializer().serializeFSPlayerBegin( transport(),
                                         side,
                                         p.unum(),
                                         p.isGoalie(),
                                         p.playerTypeId(),
                                         p.pos().x,
                                         p.pos().y,
                                         p.vel().x,
                                         p.vel().y,
                                         Rad2Deg( p.angleBodyCommitted() ),
                                         Rad2Deg( p.angleNeckCommitted() ) );

    if ( p.arm().isPointing() )
    {
        rcss::geom::Vector2D arm_vec;
        p.arm().getRelDest( rcss::geom::Vector2D( p.pos().x, p.pos().y ),
                            p.angleBodyCommitted() + p.angleNeckCommitted(),
                            arm_vec );
        serializer().serializeFSPlayerArm( transport(),
                                           arm_vec.getMag(),
                                           arm_vec.getHead() );
    }

    serializer().serializeFSPlayerStamina( transport(),
                                           p.stamina(),
                                           p.effort(),
                                           p.recovery(),
                                           p.staminaCapacity() );

    serializer().serializeFSPlayerState( transport(), p );

    serializer().serializeFSPlayerEnd( transport() );
}


/*!
//===================================================================
//
//  Register senders for different versions
//
//===================================================================
*/

namespace fullstatesender {

template< typename Sender >
FullStateSenderPlayer::Ptr
create( const FullStateSenderPlayer::Params & params )
{
    return FullStateSenderPlayer::Ptr( new Sender( params ) );
}

RegHolder vp1 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV1 >, 1 );
RegHolder vp2 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV1 >, 2 );
RegHolder vp3 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV1 >, 3 );
RegHolder vp4 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV1 >, 4 );
RegHolder vp5 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV5 >, 5 );
RegHolder vp6 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV5 >, 6 );
RegHolder vp7 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV5 >, 7 );
RegHolder vp8 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV8 >, 8 );
RegHolder vp9 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV8 >, 9 );
RegHolder vp10 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV8 >, 10 );
RegHolder vp11 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV8 >, 11 );
RegHolder vp12 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV8 >, 12 );
RegHolder vp13 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV8 >, 13 );
}

}