landmarkreader.cpp

来自「2009 ROBOCUP 仿真2DSERVER 源码」· C++ 代码 · 共 785 行 · 第 1/3 页

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

#include "landmarkreader.h"

#include "field.h"

const char LandmarkReader::FLAG_KW[] = "flag";
const char LandmarkReader::GOAL_KW[] = "goal";
const char LandmarkReader::MAINPITCH_KW[] = "mainPitch";
const char LandmarkReader::OUTERPITCH_KW[] = "outerPitch";
const char LandmarkReader::GOALMOUTH_KW[] = "goalMouth";
const char LandmarkReader::PENALTYAREA_KW[] = "penaltyArea";

const char LandmarkReader::X_KW[] = "x";
const char LandmarkReader::Y_KW[] = "y";
const char LandmarkReader::STARTX_KW[] = "startx";
const char LandmarkReader::STARTY_KW[] = "starty";
const char LandmarkReader::ENDX_KW[] = "endx";
const char LandmarkReader::ENDY_KW[] = "endy";
const char LandmarkReader::NAME_KW[] = "name";
const char LandmarkReader::VER_KW[] = "ver";
const char LandmarkReader::SIDE_KW[] = "side";

const char LandmarkReader::SIDE_L = 'l';
const char LandmarkReader::SIDE_R = 'r';

const LandmarkReader::flag_t LandmarkReader::DEF_FLAG( 0.0, 0.0, "", 8.0 );

// standard landmarks
// Be very carefull when changing the default values.  If you
// change from abs to percent or visa-versa, make sure you add
// or remove the % sign in the print function and the loadDefaults.
const LandmarkReader::rect_t LandmarkReader::DEF_PITCH = { -52.5, -34.0, 52.5, 34.0 };

const LandmarkReader::flag_t LandmarkReader::FLAG_C( 0.0, 0.0, "c", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_C_T( 0.0, -100.0, "c t", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_C_B( 0.0, 100.0, "c b", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_R_T( 100.0, -100.0, "r t", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_R_B( 100.0, 100.0, "r b", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_T( -100.0, -100.0, "l t", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_B( -100.0, 100.0, "l b", 3.0 );

const LandmarkReader::goal_mouth_t LandmarkReader::GOAL_MOUTH_R = { 'r', -7.01, 7.01 };

const LandmarkReader::goal_mouth_t LandmarkReader::GOAL_MOUTH_L = { 'l', -7.01, 7.01 };

const LandmarkReader::flag_t LandmarkReader::FLAG_G_R_B( 0.0, 100.0, "g r b", 3.0 );

const LandmarkReader::flag_t LandmarkReader::GOAL_R( 0.0, 0.0, "r", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_G_R_T( 0.0, -100.0, "g r t", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_G_L_B( 0.0, 100.0, "g l b", 3.0 );

const LandmarkReader::flag_t LandmarkReader::GOAL_L( 0.0, 0.0, "l", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_G_L_T( 0.0, -100.0, "g l t", 3.0 );

const LandmarkReader::rect_t LandmarkReader::PEN_R = { 36.0, -20.16, 100, 20.16 };
// NOTE: the default endx for PEN_R is a % and the others are absoulute

const LandmarkReader::flag_t LandmarkReader::FLAG_P_R_B( -100.0, 100.0, "p r b", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_P_R_C( -100.0, 0.0, "p r c", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_P_R_T( -100.0, -100.0, "p r t", 3.0 );

const LandmarkReader::rect_t LandmarkReader::PEN_L = { -36.0, -20.16, -100, 20.16 };
// NOTE: the default endx for PEN_L is a % and the others are absoulute

const LandmarkReader::flag_t LandmarkReader::FLAG_P_L_B( -100.0, 100.0, "p l b", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_P_L_C( -100.0, 0.0, "p l c", 3.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_P_L_T( -100.0, -100.0, "p l t", 3.0 );

const LandmarkReader::rect_t LandmarkReader::OUTER_PITCH = { -57.5, -39.0, 57.5, 39.0 };

// NOTE:  The top and bottom outer pitch flags have a abs x and a % y
const LandmarkReader::flag_t LandmarkReader::FLAG_T_0( 0.0, -100.0, "t 0", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_R_10( 10.0, -100.0, "t r 10", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_R_20( 20.0, -100.0, "t r 20", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_R_30( 30.0, -100.0, "t r 30", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_R_40( 40.0, -100.0, "t r 40", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_R_50( 50.0, -100.0, "t r 50", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_L_10( -10.0, -100.0, "t l 10", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_L_20( -20.0, -100.0, "t l 20", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_L_30( -30.0, -100.0, "t l 30", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_L_40( -40.0, -100.0, "t l 40", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_T_L_50( -50.0, -100.0, "t l 50", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_0( 0.0, 100.0, "b 0", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_R_10( 10.0, 100.0, "b r 10", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_R_20( 20.0, 100.0, "b r 20", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_R_30( 30.0, 100.0, "b r 30", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_R_40( 40.0, 100.0, "b r 40", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_R_50( 50.0, 100.0, "b r 50", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_L_10( -10.0, 100.0, "b l 10", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_L_20( -20.0, 100.0, "b l 20", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_L_30( -30.0, 100.0, "b l 30", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_L_40( -40.0, 100.0, "b l 40", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_B_L_50( -50.0, 100.0, "b l 50", 4.0 );

// NOTE:  The left and right outer pitch flags have a % x and a abs y
const LandmarkReader::flag_t LandmarkReader::FLAG_R_0( 100.0, 0.0, "r 0", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_R_T_10( 100.0, -10.0, "r t 10", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_R_T_20( 100.0, -20.0, "r t 20", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_R_T_30( 100.0, -30.0, "r t 30", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_R_B_10( 100.0, 10.0, "r b 10", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_R_B_20( 100.0, 20.0, "r b 20", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_R_B_30( 100.0, 30.0, "r b 30", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_0( -100.0, 0.0, "l 0", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_T_10( -100.0, -10.0, "l t 10", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_T_20( -100.0, -20.0, "l t 20", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_T_30( -100.0, -30.0, "l t 30", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_B_10( -100.0, 10.0, "l b 10", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_B_20( -100.0, 20.0, "l b 20", 4.0 );

const LandmarkReader::flag_t LandmarkReader::FLAG_L_B_30( -100.0, 30.0, "l b 30", 4.0 );

LandmarkReader::LandmarkReader( Field & field,
                                const std::string &
#ifdef HAVE_LIBEXPAT
                                path_name
#endif
                                )
    : M_field( field )
{
#ifdef HAVE_LIBEXPAT
    if ( ! readXml( path_name ) )
    {
        std::cerr << "trying to create default landmark file...";

        if ( createFile( path_name ) )
        {
            std::cerr << "\t...Created\n";
        }
        else
        {
            std::cerr << "\t...Failed\n";
        }
        loadDefaults();
    }
#else // !HAVE_LIBEXPAT
    loadDefaults();
#endif // !HAVE_LIBEXPAT
}

#ifdef HAVE_LIBEXPAT
void
LandmarkReader::start( const char * el,
                       const char ** attr )
{
    if ( std::string( el ) == LandmarkReader::FLAG_KW )
    {
        processFlag( attr );
    }
    else if ( std::string( el ) == LandmarkReader::GOAL_KW )
    {
        processFlag( attr, true );
    }
    else if ( std::string( el ) == LandmarkReader::MAINPITCH_KW )
    {
        processPitch( attr );
    }
    else if ( std::string( el ) == LandmarkReader::PENALTYAREA_KW )
    {
        processPitch( attr, false );
    }
    else if ( std::string( el ) == LandmarkReader::GOALMOUTH_KW )
    {
        processGoalMouth( attr );
    }
    else if ( std::string( el ) == LandmarkReader::OUTERPITCH_KW )
    {
        processPitch( attr, false );
    }
    else
    {
        std::cerr << path << ": " << line
                  << ": unknown tag " << el << std::endl;
    }
}

void
LandmarkReader::end( const char * el )
{
    if ( std::string( el ) == LandmarkReader::MAINPITCH_KW
         || std::string( el ) == LandmarkReader::PENALTYAREA_KW
         || std::string( el ) == LandmarkReader::GOALMOUTH_KW )
    {
        rect_stack.pop();
    }
}

bool
LandmarkReader::processGoalMouth( const char ** attr )
{
    if ( rect_stack.size() == 0 )
    {
        return false;
    }

    LandmarkReader::goal_mouth_t goal_mouth;
    LandmarkReader::rect_t rect;

    bool side_found = false;

    for( int i = 0; attr[i]; i += 2 )
    {
        if ( std::string( attr[i] ) == LandmarkReader::SIDE_KW )
        {
            if ( ! extract( attr[i], attr[i+1], goal_mouth.side ) )
            {
                return false;
            }

            if ( goal_mouth.side == LandmarkReader::SIDE_L )
            {
                rect.startx = rect.endx = rect_stack.top().startx;
                side_found = true;
                goal_mouth.side = LandmarkReader::SIDE_L;