player.cpp

来自「2009 ROBOCUP 仿真2DSERVER 源码」· C++ 代码 · 共 2,189 行 · 第 1/5 页

    int count = 0;
    while ( *buf != '\0' )
    {
        while ( *buf == ' ' || *buf == '\t' || *buf == '\n' ) ++buf;
        if ( *buf == '\0' ) break;

        if ( ! std::strncmp( buf, "(turn ", 6 ) )
        {
            double moment = 0.0;
            if ( std::sscanf( buf, "(turn %lf) %n",
                              &moment, &n_read ) != 1 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            turn( moment );
        }
        else if ( ! std::strncmp( buf, "(dash ", 6 ) )
        {
            double power = 0.0;
            if ( std::sscanf( buf, "(dash %lf) %n",
                              &power, &n_read ) != 1 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            dash( power );
        }
        else if ( ! std::strncmp( buf, "(turn_neck ", 11 ) )
        {
            double moment = 0.0;
            if ( std::sscanf( buf, "(turn_neck %lf) %n",
                              &moment, &n_read ) != 1 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            turn_neck( moment );
        }
        else if ( ! std::strncmp( buf, "(say ", 5 ) )
        {
            buf += 5;
            char msg[MaxMesg];
            if ( *buf == '"'
                 && std::sscanf( buf, "\"%[-0-9a-zA-Z ().+*/?<>_]\") %n",
                                 msg, &n_read ) == 1 )
            {
                buf += n_read;
                say( msg );
                return true;
            }
            else if ( std::sscanf( buf, "%[-0-9a-zA-Z ().+*/?<>_]",
                                   msg ) == 1 )
            {
                int l = std::strlen( msg );
                if ( msg[l-1] == ')')
                {
                    msg[l-1] = '\0';
                }
                else
                {
                    std::cerr << "Error parsing >" << buf << "<\n";
                    return false;
                }

                say( msg );

                // the say command consumes the rest of the
                // command string so no point trying to parse
                // subsequent commands.
                return true;
            }

            std::cerr << "Error parsing >" << buf << "<\n";
            return false;
        }
        else if ( ! std::strncmp( buf, "(attentionto ", 13 ) )
        {
            if ( ! std::strncmp( buf, "(attentionto off)", 17 ) )
            {
                buf += 17;
                attentionto( false, rcss::pcom::UNKNOWN_TEAM, std::string(), 0 );
            }
            else
            {
                bool on = true;
                rcss::pcom::TEAM at_side = rcss::pcom::UNKNOWN_TEAM;
                char at_team_name[256];
                int at_unum = 0;
                if ( std::sscanf( buf, "(attentionto %s %d) %n",
                                  at_team_name, &at_unum, &n_read ) != 2 )
                {
                    std::cerr << "Error parsing attentionto >" << buf << "<\n";
                    return false;
                }
                buf += n_read;

                if ( ! std::strcmp( at_team_name, "our" ) )
                {
                    at_side = rcss::pcom::OUR;
                }
                else if ( ! std::strcmp( at_team_name, "opp" ) )
                {
                    at_side = rcss::pcom::OPP;
                }
                else if ( ! std::strcmp( at_team_name, "l" ) )
                {
                    at_side = rcss::pcom::LEFT_SIDE;
                }
                else if ( ! std::strcmp( at_team_name, "r" ) )
                {
                    at_side = rcss::pcom::RIGHT_SIDE;
                }

                attentionto( on, at_side, std::string( at_team_name ), at_unum );
            }
        }
        else if ( ! std::strncmp( buf, "(kick ", 6 ) )
        {
            double power = 0.0;
            double dir = 0.0;
            if ( std::sscanf( buf, "(kick %lf %lf) %n",
                              &power, &dir, &n_read ) != 2 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            kick( power, dir );
        }
        else if ( ! std::strncmp( buf, "(tackle ", 8 ) )
        {
            double power_or_dir = 0.0;
            if ( std::sscanf( buf, "(tackle %lf) %n",
                              &power_or_dir, &n_read ) != 1 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            tackle( power_or_dir );
        }
        else if ( ! std::strncmp( buf, "(pointto ", 9 ) )
        {
            if ( ! std::strncmp( buf, "(pointto off)", 13 ) )
            {
                buf += 13;
                pointto( false, 0.0, 0.0 );
            }
            else
            {
                double dist, head;
                if ( std::sscanf( buf, "(pointto %lf %lf) %n",
                                  &dist, &head, &n_read ) != 2 )
                {
                    std::cerr << "Error parsing >" << buf << "<\n";
                    return false;
                }
                buf += n_read;

                pointto( true, dist, head );
            }
        }
        else if ( ! std::strncmp( buf, "(catch ", 7 ) )
        {
            double dir = 0.0;
            if ( std::sscanf( buf, "(catch %lf) %n",
                              &dir, &n_read ) != 1 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            goalieCatch( dir );
        }
        else if ( ! std::strncmp( buf, "(move ", 6 ) )
        {
            double x, y;
            if ( std::sscanf( buf, "(move %lf %lf) %n",
                              &x, &y, &n_read ) != 2
                 && std::sscanf( buf, "(move ( %lf %lf ) ) %n",
                                 &x, &y, &n_read ) != 2 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            move( x, y );
        }
        else if ( ! std::strncmp( buf, "(change_view ", 13 ) )
        {
            rcss::pcom::VIEW_WIDTH vwidth = rcss::pcom::NORMAL;
            rcss::pcom::VIEW_QUALITY vquality = rcss::pcom::HIGH;

            char width[16], quality[16];
            std::memset( width, 0, 16 );
            std::memset( quality, 0, 16 );

            if ( std::sscanf( buf, "(change_view %15[^ )] %15[^ )]) %n",
                              width, quality, &n_read ) != 2
                 && std::sscanf( buf, "(change_view %15[^ )]) %n",
                                 width, &n_read ) != 1 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            if ( ! std::strcmp( width, "narrow" ) ) vwidth = rcss::pcom::NARROW;
            else if ( ! std::strcmp( width, "normal" ) ) vwidth = rcss::pcom::NORMAL;
            else if ( ! std::strcmp( width, "wide" ) ) vwidth = rcss::pcom::WIDE;
            else
            {
                std::cerr << "Error parsing view width >" << buf << "< width=" << width << "\n";
                return false;
            }

            if ( ! std::strcmp( quality, "low" ) ) vquality = rcss::pcom::LOW;
            else if ( ! std::strcmp( quality, "high" ) ) vquality = rcss::pcom::HIGH;
            else if ( std::strlen( quality ) == 0 ) vquality = rcss::pcom::HIGH;
            else
            {
                std::cerr << "Error parsing view quality >" << buf << "<\n";
                return false;
            }

            change_view( vwidth, vquality );
        }
        else if ( ! std::strncmp( buf, "(compression ", 13 ) )
        {
            int level = 0;
            if ( std::sscanf( buf, "(compression %d) %n",
                              &level, &n_read ) != 1 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            compression( level );
        }
        else if ( ! std::strncmp( buf, "(sense_body)", 12 ) )
        {
            buf += 12;
            sense_body();
        }
        else if ( ! std::strncmp( buf, "(score)", 7 ) )
        {
            buf += 7;
            score();
        }
        else if ( ! std::strncmp( buf, "(bye)", 5 ) )
        {
            buf += 5;
            bye();
        }
        else if ( ! std::strncmp( buf, "(done)", 6 ) )
        {
            buf += 6;
            done();
        }
        else if ( ! std::strncmp( buf, "(clang ", 7 ) )
        {
            int min_ver, max_ver;
            if ( std::sscanf( buf, "(clang (ver %d %d) ) %n",
                              &min_ver, &max_ver, &n_read ) != 2 )
            {
                std::cerr << "Error parsing >" << buf << "<\n";
                return false;
            }
            buf += n_read;

            clang( min_ver, max_ver );
        }
        else if ( ! std::strncmp( buf, "(ear ", 5 ) )
        {
            int n = parseEar( buf );
            if ( n == 0 )
            {
                std::cerr << "Error parsing ear >" << buf << "<\n";
                return false;
            }
            buf += n;
        }
        else if ( ! std::strncmp( buf, "(synch_see)", 11 ) )
        {
            buf += 11;
            synch_see();
        }
        else
        {
            std::cerr << "Error parsing >" << buf << "<\n";
            return false;
        }

        ++count;
    }


    return ( count > 0 );
}

int
Player::parseEar( const char * command )
{
    int n_read = 0;

    char onoff[16];
    char team_str[256];
    char mode_str[16];

    rcss::pcom::TEAM team_side = rcss::pcom::UNKNOWN_TEAM;
    rcss::pcom::EAR_MODE mode = rcss::pcom::UNKNOWN_EAR_MODE;

    if ( std::sscanf( command, "(ear (%15[^ )] %255[^ )] %15[^ )])) %n",
                      onoff, team_str, mode_str, &n_read ) == 3 )
    {
        bool on = false;
        if( ! std::strcmp( onoff, "on" ) ) on = true;
        else if( ! std::strcmp( onoff, "off" ) ) on = false;
        else return 0;

        if ( ! std::strcmp( team_str, "our" ) )
        {
            team_side = rcss::pcom::OUR;
        }
        else if ( ! std::strcmp( team_str, "opp" ) )
        {
            team_side = rcss::pcom::OPP;
        }
        else if( ! std::strcmp( team_str, "left" ) || ! std::strcmp( team_str, "l" ) )
        {
            team_side = rcss::pcom::LEFT_SIDE;
        }
        else if( ! std::strcmp( team_str, "right" ) || ! std::strcmp( team_str, "r" ) )
        {
            team_side = rcss::pcom::RIGHT_SIDE;
        }

        if ( ! std::strcmp( mode_str, "partial" ) || ! std::strcmp( mode_str, "p" ) )
        {
            mode = rcss::pcom::PARTIAL;
        }
        else if( ! std::strcmp( mode_str, "complete" ) || ! std::strcmp( mode_str, "c" ) )
        {
            mode = rcss::pcom::COMPLETE;
        }
        else
        {
            return 0;
        }

        ear( on, team_side, team_str, mode );
        return n_read;
    }
    else if ( std::sscanf( command, "(ear (%[^ )] %[^ )])) %n",
                           onoff, team_str, &n_read ) == 2 )
    {
        bool on;
        if ( ! std::strcmp( onoff, "on" ) ) on = true;
        else if( ! std::strcmp( onoff, "off" ) ) on = false;
        else return 0;

        if ( ! std::strcmp( team_str, "our" ) )
        {
            team_side = rcss::pcom::OUR;
        }
        else if ( ! std::strcmp( team_str, "opp" ) )
        {
            team_side = rcss::pcom::OPP;
        }
        else if ( ! std::strcmp( team_str, "left" ) || ! std::strcmp( team_str, "l" ) )
        {
            team_side = rcss::pcom::LEFT_SIDE;
        }
        else if ( ! std::strcmp( team_str, "right" ) || ! std::strcmp( team_str, "r" ) )
        {
            team_side = rcss::pcom::RIGHT_SIDE;
        }
        else if ( ! std::strcmp( mode_str, "partial" ) || ! std::strcmp( mode_str, "p" ) )
        {
            mode = rcss::pcom::PARTIAL;
        }
        else if( ! std::strcmp( mode_str, "complete" ) || ! std::strcmp( mode_str, "c" ) )
        {
            mode = rcss::pcom::COMPLETE;
        }

        ear( on, team_side, team_str, mode );
        return n_read;
    }
    else if ( std::sscanf( command, "(ear (%[^ )])) %n",
                           onoff, &n_read ) == 1 )
    {
        bool on;
        if ( ! std::strcmp( onoff, "on" ) ) on = true;
        else if( ! std::strcmp( onoff, "off" ) ) on = false;
        else return 0;

        ear( on, rcss::pcom::UNKNOWN_TEAM, std::string(), rcss::pcom::UNKNOWN_EAR_MODE );
        return n_read;
    }

    return 0;
}


void
Player::send( const char * msg )
{
    if ( RemoteClient::send( msg, std::strlen( msg ) + 1 ) != -1 )
    {
        M_stadium.logger().writePlayerLog( *this, msg, SEND );
    }
}


void
Player::dash( double power )
{
    dash( power, 0.0 );

//     if ( ! M_command_done )
//     {
//         // calculate stamina
//         double power_need = ( power < 0.0
//                               ? NormalizeDashPower( power ) * -2.0