serverparam.h

来自「2009 ROBOCUP 仿真2DSERVER 源码」· C头文件 代码 · 共 995 行 · 第 1/3 页

          return M_sense_body_step / M_slow_down_factor;
      }

    int getRawCoachVisualStep() const
      {
          return M_send_vi_step / M_slow_down_factor;
      }

    int getRawSendStep() const
      {
          return M_send_step / M_slow_down_factor;
      }

    int getRawSynchOffset() const
      {
          return M_synch_offset / M_slow_down_factor;
      }

    void setSynchMode( bool value );

    void setTeamLeftStart( std::string start );
    void setTeamRightStart( std::string start );

    void setTextLogDir( std::string str )
      {
          M_text_log_dir = tildeExpand( str );
      }
    void setGameLogDir( std::string str )
      {
          M_game_log_dir = tildeExpand( str );
      }
    void setKAwayLogDir( std::string str )
      {
          M_keepaway_log_dir = tildeExpand( str );
      }

    void setCoachMsgFile( std::string str )
      {
          M_coach_msg_file = tildeExpand( str );
      }


    void setSlowDownFactor();

public:

    const
    VerMap & verMap() const
      {
          return M_ver_map;
      }

    server_params_t convertToStruct() const;

    bool getInt( const std::string & param, int & value ) const;
    bool getBool( const std::string & param, bool & value ) const;
    bool getDoub( const std::string & param, double & value ) const;
    bool getStr( const std::string & param, std::string & value ) const;


    // access methods

    const double & goalWidth() const { return M_goal_width; }
    const double & inertiaMoment() const { return M_inertia_moment; }
    const double & playerSize() const { return M_player_size; }
    const double & playerDecay() const { return M_player_decay; }
    const double & playerRand() const { return M_player_rand; }
    const double & playerWeight() const { return M_player_weight; }
    const double & playerSpeedMax() const { return M_player_speed_max; }
    const double & playerAccelMax() const { return M_player_accel_max; }
    const double & staminaMax() const { return M_stamina_max; }
    const double & staminaInc() const { return M_stamina_inc; }
    const double & recoverInit() const { return M_recover_init; }
    const double & recoverDecThr() const { return M_recover_dec_thr; }
    const double & recoverMin() const { return M_recover_min; }
    const double & recoverDec() const { return M_recover_dec; }
    const double & effortInit() const { return M_effort_init; }
    const double & effortDecThr() const { return  M_effort_dec_thr; }
    const double & effortMin() const { return M_effort_min; }
    const double & effortDec() const { return M_effort_dec; }
    const double & effortIncThr() const { return  M_effort_inc_thr; }
    const double & effortInc() const { return M_effort_inc; }
    const double & kickRand() const { return M_kick_rand; }
    bool teamActuatorNoise() const { return M_team_actuator_noise; }
    const double & playerRandFactorLeft() const { return M_player_rand_factor_l; }
    const double & playerRandFactorRight() const { return M_player_rand_factor_r; }
    const double & kickRandFactorLeft() const { return M_kick_rand_factor_l; }
    const double & kickRandFactorRight() const { return M_kick_rand_factor_r; }

    const double & ballSize() const { return M_ball_size; }
    const double & ballDecay() const { return M_ball_decay; }
    const double & ballRand() const { return M_ball_rand; }
    const double & ballWeight() const { return M_ball_weight; }
    const double & ballSpeedMax() const { return M_ball_speed_max; }
    const double & ballAccelMax() const { return M_ball_accel_max; }
    const double & dashPowerRate() const { return M_dash_power_rate; }
    const double & kickPowerRate() const { return M_kick_power_rate; }
    const double & kickableMargin() const { return M_kickable_margin; }
    const double & controlRadius() const { return M_control_radius; }
    const double & controlRadiusWidth() const { return M_control_radius_width; }

    const double & maxPower() const { return M_max_power; }
    const double & minPower() const { return M_min_power; }
    const double & maxMoment() const { return M_max_moment; }
    const double & minMoment() const { return M_min_moment; }
    const double & maxNeckMoment() const { return M_max_neck_moment; }
    const double & minNeckMoment() const { return M_min_neck_moment; }
    const double & maxNeckAngle() const { return M_max_neck_angle; }
    const double & minNeckAngle() const { return M_min_neck_angle; }
    double visibleAngle() const { return Deg2Rad( M_visible_angle ); }
    const double & visibleAngleDegree() const { return M_visible_angle; }
    const double & visibleDistance() const{ return M_visible_distance; }

    const double & windDir() const { return M_wind_dir; }
    const double & windForce() const { return M_wind_force; }
    const double & windAngle() const { return M_wind_angle; }
    const double & windRand() const { return M_wind_rand; }
    const double & windWeight() const { return WIND_WEIGHT; }
    bool windNone() const { return M_wind_none; }
    bool windRandom() const { return M_wind_random; }

    const double & kickableArea() const { return M_kickable_area; }

    const double & catchAreaLength() const { return M_catchable_area_l; }
    const double & catchAreaWidth() const { return M_catchable_area_w; }
    const double & catchProb() const { return M_catch_probability; }
    int goalieMaxMoves() const { return M_goalie_max_moves; }

    bool keepAwayMode() const { return M_keepaway; }
    const double & keepAwayLength() const { return M_keepaway_length; }
    const double & keepAwayWidth() const { return M_keepaway_width; }

    const double & cornerKickMargin() const { return M_corner_kick_margin; }
    const double & offsideActiveArea() const { return M_offside_active_area_size; }

    rcss::net::Addr::PortType playerPort() const { return M_port; }
    rcss::net::Addr::PortType offlineCoachPort() const { return M_coach_port; }
    rcss::net::Addr::PortType onlineCoachPort() const { return M_olcoach_port; }

    unsigned int freeformCountMax() const { return (unsigned int)M_say_cnt_max; }
    unsigned int freeformMsgSize() const { return (unsigned int)M_say_coach_msg_size; }

    int clangWinSize() const { return M_clang_win_size; }
    int clangDefineWin() const { return M_clang_define_win; }
    int clangMetaWin() const { return M_clang_meta_win; }
    int clangAdviceWin() const { return M_clang_advice_win; }
    int clangInfoWin() const { return M_clang_info_win; }
    int clangMessDelay() const { return M_clang_mess_delay; }
    int clangMessPerCycle() const{ return M_clang_mess_per_cycle; }

    int halfTime() const { return M_half_time; }
    int dropTime() const { return M_drop_ball_time; }
    int nrNormalHalfs() const { return M_nr_normal_halfs; }
    int nrExtraHalfs() const { return M_nr_extra_halfs; }
    bool penaltyShootOuts() const { return M_penalty_shoot_outs; }

    int penBeforeSetupWait() const { return M_pen_before_setup_wait; }
    int penSetupWait() const { return M_pen_setup_wait; }
    int penReadyWait() const { return M_pen_ready_wait; }
    int penTakenWait() const { return M_pen_taken_wait; }
    int penNrKicks() const { return M_pen_nr_kicks; }
    int penMaxExtraKicks() const { return M_pen_max_extra_kicks; }
    const double & penDistX() const { return M_pen_dist_x; }
    bool penRandomWinner() const { return M_pen_random_winner; }
    bool penAllowMultiKicks() const { return M_pen_allow_mult_kicks; }
    const double & penMaxGoalieDistX() const { return M_pen_max_goalie_dist_x; }
    bool penCoachMovesPlayers() const { return M_pen_coach_moves_players; }

    int simStep() const { return M_simulator_step; }
    int senseBodyStep() const { return M_sense_body_step; }
    int coachVisualStep() const { return M_send_vi_step; }
    int sendStep() const { return M_send_step; }
    int lcmStep() const { return M_lcm_step; }
    int recvStep() const { return M_recv_step; }

    int catchBanCycle() const { return M_catch_ban_cycle; }
    int slowDownFactor() const { return M_slow_down_factor; }
    bool useOffside() const { return M_use_offside; }
    bool kickOffOffside() const { return M_forbid_kick_off_offside; }
    const double & offsideKickMargin() const { return M_offside_kick_margin; }

    const double & audioCutDist() const { return M_audio_cut_dist; }

    const double & quantizeStep() const { return M_quantize_step; }
    const double & landmarkQuantizeStep() const { return M_landmark_quantize_step; }

#ifdef NEW_QSTEP
    const Vlaue & dirQStep() const { return dir_qstep; }
    const double & distQStepL() const
      {
          return ( ! defined_qstep_l ? dist_qstep : dist_qstep_l );
      }
    const double & distQStepR() const
      {
          return ( ! defined_qstep_r ? dist_qstep : dist_qstep_r );
      }
    const double & landQStepL() const
      {
          return ( ! defined_qstep_l_l ? land_qstep : land_qstep_l );
      }
    const double & landQStepR() const
      {
          return ( ! defined_qstep_r_l ? land_qstep : land_qstep_r );
      }
    const double & dirQStepL() const
      {
          return ( ! defined_qstep_dir_l ? dir_qstep : dir_qstep_l );
      }
    const double & dirQStepR() const
      {
          return ( ! defined_qstep_dir_r ? dir_qstep : dir_qstep_r );
      }
#endif

    bool verboseMode() const { return M_verbose; }
    bool coachMode() const { return M_coach_mode; }
    bool coachWithRefereeMode() const { return M_coach_with_referee_mode; }
    bool coachOldHear() const { return M_old_coach_hear; }

    bool synchMode() const { return M_synch_mode; }
    int synchOffset() const { return M_synch_offset; }
    unsigned int synchMicroSleep() const { return static_cast< unsigned int >( M_synch_micro_sleep ); }

    int startGoalLeft() const { return M_start_goal_l; }
    int startGoalRight() const { return M_start_goal_r; }

    bool fullstateLeft() const { return M_fullstate_l; }
    bool fullstateRight() const { return M_fullstate_r; }

    const double & slownessOnTopForLeft() const { return M_slowness_on_top_for_left_team; }
    const double & slownessOnTopForRight() const { return M_slowness_on_top_for_right_team; }

    const std::string & landmarkFile() const { return M_landmark_file; }

    bool sendComms() const { return M_send_comms; }

    bool textLogging() const { return M_text_logging; }
    bool gameLogging() const { return M_game_logging; }
    int gameLogVersion() const { return M_game_log_version; }
    const std::string & textLogDir() const { return M_text_log_dir; }
    const std::string & gameLogDir() const { return M_game_log_dir; }
    const std::string & textLogFixedName() const { return M_text_log_fixed_name; }
    const std::string & gameLogFixedName() const { return M_game_log_fixed_name; }
    int textLogFixed() const { return M_text_log_fixed; }
    int gameLogFixed() const { return M_game_log_fixed; }
    int textLogDated() const { return M_text_log_dated; }
    int gameLogDated() const { return M_game_log_dated; }
    const std::string & logDateFormat() const { return M_log_date_format; }
    int logTimes() const { return M_log_times; }
    int recordMessages() const { return M_record_messages; }
    int textLogCompression() const { return M_text_log_compression; }
    int gameLogCompression() const { return M_game_log_compression; }

    bool profile() const { return M_profile; }

    bool kawayLogging() const { return M_keepaway_logging; }
    const std::string & kawayLogDir() const { return M_keepaway_log_dir; }
    const std::string & kawayLogFixedName() const { return M_keepaway_log_fixed_name; }
    bool kawayLogFixed() const { return M_keepaway_log_fixed; }
    bool kawayLogDated() const { return M_keepaway_log_dated; }

    int kawayStart() const { return M_keepaway_start; }

    unsigned int pointToBan() const { return static_cast< unsigned int >( M_point_to_ban ); }
    unsigned int pointToDuration() const { return static_cast< unsigned int >( M_point_to_duration ); }

    unsigned int sayMsgSize() const { return static_cast< unsigned int >( M_say_msg_size ); }
    unsigned int hearMax() const { return static_cast< unsigned int >( M_hear_max ); }
    unsigned int hearInc() const { return static_cast< unsigned int >( M_hear_inc ); }
    unsigned int hearDecay() const { return static_cast< unsigned int >( M_hear_decay ); }

    const double & tackleDist() const { return M_tackle_dist; }
    const double & tackleBackDist() const { return M_tackle_back_dist; }
    const double & tackleWidth() const { return M_tackle_width; }
    const double & tackleExponent() const { return M_tackle_exponent; }
    int tackleCycles() const { return M_tackle_cycles; }
    const double & tacklePowerRate() const { return M_tackle_power_rate; }

    unsigned int freeformWaitPeriod() const { return static_cast< unsigned int >( M_freeform_wait_period ); }
    unsigned int freeformSendPeriod() const { return static_cast< unsigned int >( M_freeform_send_period ); }

    bool freeKickFaults() const { return M_free_kick_faults; }
    bool backPasses() const { return M_back_passes; }
    bool properGoalKicks() const { return M_proper_goal_kicks; }
    const double & stoppedBallVel() const { return M_stopped_ball_vel; }
    int maxGoalKicks() const { return M_max_goal_kicks; }

    int clangDelWin() const { return M_clang_del_win; }
    int clangRuleWin() const { return M_clang_rule_win; }

    bool autoMode() const { return M_auto_mode; }
    int kickOffWait() const { return M_kick_off_wait; }
    int connectWait() const { return M_connect_wait; }
    int gameOverWait() const { return M_game_over_wait; }
    const std::string & teamLeftStart() const { return M_team_l_start; }
    const std::string & teamRightStart() const { return M_team_r_start; }

    double goalPostRadius() const { return 0.06; }

    // v.11
    const double & ballStuckArea() const { return M_ball_stuck_area; }
    const std::string & coachMsgFile() const { return M_coach_msg_file; }

    // v.12
    const double & maxTacklePower() const { return M_max_tackle_power; }
    const double & maxBackTacklePower() const { return M_max_back_tackle_power; }
    const double & playerSpeedMaxMin() const { return M_player_speed_max_min; }
    const double & extraStamina() const { return M_extra_stamina; }
    int maxMonitors() const { return M_max_monitors; }
    int synchSeeOffset() const { return M_synch_see_offset; }
    // v12.1.3
    int extraHalfTime() const { return M_extra_half_time; }

    // v13
    const double & staminaCapacity() const { return M_stamina_capacity; }
    const double & maxDashAngle() const { return M_max_dash_angle; }
    const double & minDashAngle() const { return M_min_dash_angle; }
    const double & dashAngleStep() const { return M_dash_angle_step; }
    const double & sideDashRate() const { return M_side_dash_rate; }
    const double & backDashRate() const { return M_back_dash_rate; }
    const double & maxDashPower() const { return M_max_dash_power; }
    const double & minDashPower() const { return M_min_dash_power; }

    // test
    const double & reliableCatchAreaLength() const { return M_reliable_catch_area_l; }
    const double & minCatchProbability() const { return M_min_catch_probability; }

};

#endif