serverparam.cpp

来自「2009 ROBOCUP 仿真2DSERVER 源码」· C++ 代码 · 共 1,306 行 · 第 1/4 页

/* -*- Mode: c++ -*- */

/*
 *Copyright:

 Copyright (C) 1996-2000 Electrotechnical Laboratory.
 Itsuki Noda, Yasuo Kuniyoshi and Hitoshi Matsubara.
 Copyright (C) 2000, 2001 RoboCup Soccer Server Maintainance Group.
 Patrick Riley, Tom Howard, Daniel Polani, Itsuki Noda,
 Mikhail Prokopenko, Jan Wendler

 This file is a part of SoccerServer.

 This code is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 2.1 of the License, or (at your option) any later version.

 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.

 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *EndCopyright:
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "serverparam.h"

#include "playerparam.h"
#include "csvsaver.h"

#include <rcssbase/conf/builder.hpp>
#include <rcssbase/conf/parser.hpp>
#include <rcssbase/conf/streamstatushandler.hpp>
#include <rcssbase/conf/paramsetter.hpp>
#include <rcssbase/conf/paramgetter.hpp>

#include <algorithm>
#include <string>
#include <iostream>
#include <sstream>
#include <cstring>
#include <cstdlib>

#ifdef HAVE_SYS_PARAM_H
#include <sys/param.h> /* needed for htonl, htons, ... */
#endif
#ifdef HAVE_NETINET_IN_H
#include <netinet/in.h>
#endif
#ifdef HAVE_WINSOCK2_H
#include <Winsock2.h> /* needed for htonl, htons, ... */
#endif


#if defined(_WIN32) || defined(__WIN32__) || defined (WIN32) || defined (__CYGWIN__)
#  ifndef WIN32
#    define WIN32
#  endif
#endif

bool ServerParam::S_in_init = false;
std::string ServerParam::S_program_name = "rcssserver";


const int ServerParam::DEFAULT_PORT_NUMBER = 6000;
const int ServerParam::COACH_PORT_NUMBER = 6001;
const int ServerParam::OLCOACH_PORT_NUMBER = 6002;

const int ServerParam::SIMULATOR_STEP_INTERVAL_MSEC = 100;
const int ServerParam::UDP_RECV_STEP_INTERVAL_MSEC = 10;
const int ServerParam::UDP_SEND_STEP_INTERVAL_MSEC = 150;
const int ServerParam::SENSE_BODY_INTERVAL_MSEC = 100;
const int ServerParam::SEND_VISUALINFO_INTERVAL_MSEC = 100;

const int ServerParam::HALF_TIME = 300;
const int ServerParam::DROP_TIME = 200;

const double ServerParam::PITCH_LENGTH = 105.0;
const double ServerParam::PITCH_WIDTH = 68.0;
const double ServerParam::PITCH_MARGIN = 5.0;
const double ServerParam::CENTER_CIRCLE_R = 9.15;
const double ServerParam::PENALTY_AREA_LENGTH = 16.5;
const double ServerParam::PENALTY_AREA_WIDTH = 40.32;
const double ServerParam::GOAL_AREA_LENGTH = 5.5;
const double ServerParam::GOAL_AREA_WIDTH = 18.32;
const double ServerParam::GOAL_WIDTH = 14.02;
const double ServerParam::GOAL_DEPTH = 2.44;
const double ServerParam::PENALTY_SPOT_DIST = 11.0;
const double ServerParam::CORNER_ARC_R = 1.0;
const double ServerParam::KICK_OFF_CLEAR_DISTANCE = CENTER_CIRCLE_R;

const double ServerParam::CORNER_KICK_MARGIN = 1.0;

const double ServerParam::KEEPAWAY_LENGTH = 20.0;
const double ServerParam::KEEPAWAY_WIDTH = 20.0;

const double ServerParam::BALL_SIZE = 0.085;
const double ServerParam::BALL_DECAY = 0.94;
const double ServerParam::BALL_RAND = 0.05;
const double ServerParam::BALL_WEIGHT = 0.2;
const double ServerParam::BALL_T_VEL = 0.001;
const double ServerParam::BALL_SPEED_MAX = 3.0; // [12.0.0] 2.7 -> 3.0;
const double ServerParam::BALL_ACCEL_MAX = 2.7;

const double ServerParam::PLAYER_SIZE = 0.3;
const double ServerParam::PLAYER_WIDGET_SIZE = 1.0;
const double ServerParam::PLAYER_DECAY = 0.4;
const double ServerParam::PLAYER_RAND = 0.1;
const double ServerParam::PLAYER_WEIGHT = 60.0;
const double ServerParam::PLAYER_SPEED_MAX = 1.05; // [13.0.0] 1.2 -> 1.05
// th 6.3.00
const double ServerParam::PLAYER_ACCEL_MAX = 1.0;
//
const double ServerParam::IMPARAM = 5.0;

const double ServerParam::STAMINA_MAX = 8000.0; // [13.0.0] 4000.0 -> 8000.0
const double ServerParam::STAMINA_INC_MAX = 45.0;
const double ServerParam::RECOVERY_DEC_THR = 0.3;
const double ServerParam::RECOVERY_DEC = 0.002;
const double ServerParam::RECOVERY_MIN = 0.5;
const double ServerParam::EFFORT_DEC_THR = 0.3;
const double ServerParam::EFFORT_DEC = 0.005;
const double ServerParam::EFFORT_MIN = 0.6;
const double ServerParam::EFFORT_INC_THR = 0.6;
const double ServerParam::EFFORT_INC = 0.01;

const double ServerParam::KICK_RAND = 0.1; // [12.0.0] 0.0 -> 0.1
const double ServerParam::PRAND_FACTOR_L = 1.0;
const double ServerParam::PRAND_FACTOR_R = 1.0;
const double ServerParam::KICK_RAND_FACTOR_L = 1.0;
const double ServerParam::KICK_RAND_FACTOR_R = 1.0;


const double ServerParam::GOALIE_CATCHABLE_POSSIBILITY = 1.0;
const double ServerParam::GOALIE_CATCHABLE_AREA_LENGTH = 1.2; // [12.0.0] 2.0 -> 1.2
const double ServerParam::GOALIE_CATCHABLE_AREA_WIDTH = 1.0;
const int ServerParam::GOALIE_CATCH_BAN_CYCLE = 5;
const int ServerParam::GOALIE_MAX_MOVES = 2;

const double ServerParam::VISIBLE_ANGLE = 90.0;
const double ServerParam::VISIBLE_DISTANCE = 3.0;
const double ServerParam::AUDIO_CUT_OFF_DIST = 50.0;

const double ServerParam::DASHPOWERRATE = 0.006;
const double ServerParam::KICKPOWERRATE = 0.027;
const double ServerParam::MAXPOWER = 100.0;
const double ServerParam::MINPOWER = -100.0;

const double ServerParam::KICKABLE_MARGIN = 0.7;
const double ServerParam::CONTROL_RADIUS = 2.0;

const double ServerParam::DIST_QSTEP = 0.1;
const double ServerParam::LAND_QSTEP = 0.01;
const double ServerParam::DIR_QSTEP = 0.1;

const double ServerParam::MAXMOMENT = 180;
const double ServerParam::MINMOMENT = -180;

const double ServerParam::MAX_NECK_MOMENT = 180;
const double ServerParam::MIN_NECK_MOMENT = -180;

const double ServerParam::MAX_NECK_ANGLE = 90;
const double ServerParam::MIN_NECK_ANGLE = -90;

const int ServerParam::DEF_SAY_COACH_MSG_SIZE = 128;
const int ServerParam::DEF_SAY_COACH_CNT_MAX = 128;

const double ServerParam::WIND_DIR = 0.0;
const double ServerParam::WIND_FORCE = 0.0;
const double ServerParam::WIND_RAND = 0.0;
const double ServerParam::WIND_WEIGHT = 10000.0;

const double ServerParam::OFFSIDE_ACTIVE_AREA_SIZE = 2.5;
const double ServerParam::OFFSIDE_KICK_MARGIN = 9.15;

#ifdef WIN32
const std::string ServerParam::LANDMARK_FILE = "~\\.rcssserver-landmark.xml";
const std::string ServerParam::CONF_DIR = "~\\.rcssserver\\";
const std::string ServerParam::SERVER_CONF = "server.conf";
const std::string ServerParam::OLD_SERVER_CONF = "~\\.rcssserver-server.conf";
#else
const std::string ServerParam::LANDMARK_FILE = "~/.rcssserver-landmark.xml";
const std::string ServerParam::CONF_DIR = "~/.rcssserver/";
const std::string ServerParam::SERVER_CONF = "server.conf";
const std::string ServerParam::OLD_SERVER_CONF = "~/.rcssserver-server.conf";
#endif

const int ServerParam::SEND_COMMS = false;

const int ServerParam::TEXT_LOGGING = true;
const int ServerParam::GAME_LOGGING = true;
const int ServerParam::GAME_LOG_VERSION = DEFAULT_REC_VERSION;
const std::string ServerParam::TEXT_LOG_DIR = "./";
const std::string ServerParam::GAME_LOG_DIR = "./";
const std::string ServerParam::TEXT_LOG_FIXED_NAME = "rcssserver";
const std::string ServerParam::GAME_LOG_FIXED_NAME = "rcssserver";
const int ServerParam::TEXT_LOG_FIXED = false;
const int ServerParam::GAME_LOG_FIXED = false;
const int ServerParam::TEXT_LOG_DATED = true;
const int ServerParam::GAME_LOG_DATED = true;
const std::string ServerParam::LOG_DATE_FORMAT = "%Y%m%d%H%M-";
const int ServerParam::LOG_TIMES = false;
const int ServerParam::RECORD_MESSAGES = false;
const int ServerParam::TEXT_LOG_COMPRESSION = 0;
const int ServerParam::GAME_LOG_COMPRESSION = 0;
const bool ServerParam::PROFILE = false;

const int ServerParam::KAWAY_LOGGING = true;
const std::string ServerParam::KAWAY_LOG_DIR = "./";
const std::string ServerParam::KAWAY_LOG_FIXED_NAME = "rcssserver";
const int ServerParam::KAWAY_LOG_FIXED = false;
const int ServerParam::KAWAY_LOG_DATED = true;

const int ServerParam::KAWAY_START = -1;

const int ServerParam::POINT_TO_BAN = 5;
const int ServerParam::POINT_TO_DURATION= 20;
const unsigned int ServerParam::SAY_MSG_SIZE = 10;
const unsigned int ServerParam::HEAR_MAX = 1;
const unsigned int ServerParam::HEAR_INC = 1;
const unsigned int ServerParam::HEAR_DECAY = 1;

const double ServerParam::TACKLE_DIST = 2.0;
const double ServerParam::TACKLE_BACK_DIST = 0.0; // [12.0.0] 0.5 -> 0.0
const double ServerParam::TACKLE_WIDTH = 1.25; // [12.0.0] 1.0 -> 1.25
const double ServerParam::TACKLE_EXPONENT = 6.0;
const unsigned int ServerParam::TACKLE_CYCLES = 10;
const double ServerParam::TACKLE_POWER_RATE = 0.027;

const int ServerParam::NR_NORMAL_HALFS = 2;
const int ServerParam::NR_EXTRA_HALFS = 2;
const bool ServerParam::PENALTY_SHOOT_OUTS = true;

const int    ServerParam::PEN_BEFORE_SETUP_WAIT = 30;
const int    ServerParam::PEN_SETUP_WAIT = 100;
const int    ServerParam::PEN_READY_WAIT =  50;
const int    ServerParam::PEN_TAKEN_WAIT = 200;
const int    ServerParam::PEN_NR_KICKS = 5;
const int    ServerParam::PEN_MAX_EXTRA_KICKS = 10;
const double ServerParam::PEN_DIST_X = 42.5;
const bool   ServerParam::PEN_RANDOM_WINNER = false;
const double ServerParam::PEN_MAX_GOALIE_DIST_X = 14;
const bool   ServerParam::PEN_ALLOW_MULT_KICKS = true;
const bool   ServerParam::PEN_COACH_MOVES_PLAYERS = true;


const unsigned int ServerParam::FREEFORM_WAIT_PERIOD = 600;
const unsigned int ServerParam::FREEFORM_SEND_PERIOD = 20;

const bool ServerParam::FREE_KICK_FAULTS = true;
const bool ServerParam::BACK_PASSES = true;

const bool ServerParam::PROPER_GOAL_KICKS = false;
const double ServerParam::STOPPED_BALL_VEL = 0.01;
const int ServerParam::MAX_GOAL_KICKS = 3;

const int ServerParam::CLANG_DEL_WIN = 1;
const int ServerParam::CLANG_RULE_WIN = 1;

const bool ServerParam::S_AUTO_MODE = false;
const int ServerParam::S_KICK_OFF_WAIT = 100;
const int ServerParam::S_CONNECT_WAIT = 300;
const int ServerParam::S_GAME_OVER_WAIT = 100;

const std::string ServerParam::S_TEAM_L_START = "";
const std::string ServerParam::S_TEAM_R_START = "";

// #ifdef MODULEDIR
// const std::string ServerParam::S_MODULE_DIR = MODULEDIR;
// #else
// const std::string ServerParam::S_MODULE_DIR = "/usr/local/lib/rcssserver/modules";
// #endif

// 11.0.0
const double ServerParam::BALL_STUCK_AREA = 3.0;

// 12.0.0
const double ServerParam::MAX_TACKLE_POWER = 100.0;
const double ServerParam::MAX_BACK_TACKLE_POWER = 0.0; // [13.0.0] 50.0 -> 0.0
const double ServerParam::PLAYER_SPEED_MAX_MIN = 0.75; // [13.0.0] 0.8 -> 0.75
const double ServerParam::EXTRA_STAMINA = 50.0; // [13.0.0] 0.0 -> 50.0
const int ServerParam::SYNCH_SEE_OFFSET = 30;

// 12.1.3
const int ServerParam::EXTRA_HALF_TIME = 100; // [13.0.0] 300 -> 100

// 13.0.0
const double ServerParam::STAMINA_CAPACITY = 148600.0; //127000.0;
const double ServerParam::MAX_DASH_ANGLE = +180.0;
const double ServerParam::MIN_DASH_ANGLE = -180.0;
const double ServerParam::DASH_ANGLE_STEP = 90.0;
const double ServerParam::SIDE_DASH_RATE = 0.25;
const double ServerParam::BACK_DASH_RATE = 0.5;
const double ServerParam::MAX_DASH_POWER = +100.0;
const double ServerParam::MIN_DASH_POWER = -100.0;

ServerParam &
ServerParam::instance()
{
    static ServerParam rval( S_program_name );
    return rval;
}

bool
ServerParam::init( const int & argc,
                   const char * const * argv )
{
    S_in_init = true;
    S_program_name = argv[0];
    instance();
    S_in_init = false;

    std::string conf_dir = ServerParam::CONF_DIR;
    const char * env_conf_dir = std::getenv( "RCSS_CONF_DIR" );
    if ( env_conf_dir )
    {
        conf_dir = env_conf_dir;
    }