landmarkreader.cpp

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

            }
            else if ( goal_mouth.side == LandmarkReader::SIDE_R )
            {
                rect.startx = rect.endx = rect_stack.top().endx;
                side_found = true;
                goal_mouth.side = LandmarkReader::SIDE_R;
            }
            else
            {
                // error
                std::cerr << path << ": " << line
                          << ": Cannot convert " << attr[i]
                          << " attribute from " << attr[i+1] << std::endl;
                return false;
            }
        }
        else if ( std::string( attr[i] ) == LandmarkReader::STARTY_KW )
        {
            if ( rect_stack.size() == 0 )
            {
                if ( ! extract( attr[i], attr[i+1], rect.starty ) )
                {
                    return false;
                }
            }
            else
            {
                if ( ! extract( attr[i], attr[i+1], rect.starty,
                                rect_stack.top().starty, rect_stack.top().endy ) )
                {
                    return false;
                }
            }
        }
        else if ( std::string( attr[i] ) == LandmarkReader::ENDY_KW )
        {
            if ( rect_stack.size() == 0 )
            {
                if ( ! extract( attr[i], attr[i+1], rect.endy ) )
                {
                    return false;
                }
            }
            else
            {
                if ( ! extract( attr[i], attr[i+1], rect.endy,
                                rect_stack.top().starty, rect_stack.top().endy ) )
                {
                    return false;
                }
            }
        }
        else
        {
            // error
            std::cerr << path << ": " << line
                      << ": unknown attribute " << attr[i] << std::endl;
            return false;
        }
    }

    if ( ! side_found )
    {
        // error
        std::cerr << path << ": " << line
                  << ": goalMouth must specify a side\n" << std::endl;
        return false;
    }

    rect_stack.push( rect );

    if ( goal_mouth.side == LandmarkReader::SIDE_L )
    {
        goal_width_l = std::fabs( goal_mouth.starty - goal_mouth.endy );
    }
    else
    {
        goal_width_r = std::fabs( goal_mouth.starty - goal_mouth.endy );
    }

    return true;
}

bool
LandmarkReader::processPitch( const char ** attr,
                              bool main )
{
    LandmarkReader::rect_t rect = LandmarkReader::DEF_PITCH;

    for ( int i = 0; attr[i]; i += 2 )
    {
        if ( std::string( attr[i] ) == LandmarkReader::STARTX_KW )
        {
            if ( rect_stack.size() == 0 )
            {
                if ( ! extract( attr[i], attr[i+1], rect.startx ) )
                {
                    return false;
                }
            }
            else
            {
                if ( ! extract( attr[i], attr[i+1], rect.startx,
                                rect_stack.top().startx, rect_stack.top().endx ) )
                {
                    return false;
                }
            }
        }
        else if ( std::string( attr[i] ) == LandmarkReader::STARTY_KW )
        {
            if ( rect_stack.size() == 0 )
            {
                if ( ! extract( attr[i], attr[i+1], rect.starty ) )
                {
                    return false;
                }
            }
            else
            {
                if ( ! extract( attr[i], attr[i+1], rect.starty,
                                rect_stack.top().starty, rect_stack.top().endy ) )
                {
                    return false;
                }
            }
        }
        else if ( std::string( attr[i] ) == LandmarkReader::ENDX_KW )
        {
            if ( rect_stack.size() == 0 )
            {
                if ( ! extract( attr[i], attr[i+1], rect.endx ) )
                {
                    return false;
                }
            }
            else
            {
                if ( ! extract( attr[i], attr[i+1], rect.endx,
                                rect_stack.top().startx, rect_stack.top().endx ) )
                {
                    return false;
                }
            }
        }
        else if ( std::string( attr[i] ) == LandmarkReader::ENDY_KW )
        {
            if ( rect_stack.size() == 0 )
            {
                if ( ! extract( attr[i], attr[i+1], rect.endy ) )
                {
                    return false;
                }
            }
            else
            {
                if ( ! extract( attr[i], attr[i+1], rect.endy,
                                rect_stack.top().starty, rect_stack.top().endy ) )
                {
                    return false;
                }
            }
        }
        else
        {
            // error
            std::cerr << path << ": " << line
                      << ": unknown attribute " << attr[i] << std::endl;
            return false;
        }
    }
    rect_stack.push(rect);

    if ( main )
    {
        pitch = rect;
    }
    return true;
}

bool
LandmarkReader::processFlag( const char **attr,
                             bool goal )
{
    LandmarkReader::flag_t flag = LandmarkReader::DEF_FLAG;
    if ( rect_stack.size() > 0 )
    {
        flag.x =( rect_stack.top().startx + rect_stack.top().endx ) * 0.5;
        flag.y =( rect_stack.top().starty + rect_stack.top().endy ) * 0.5;
    }

    for(int i = 0; attr[i]; i += 2)
    {
        if ( std::string( attr[i] ) == LandmarkReader::X_KW )
        {
            if ( rect_stack.size() == 0 )
            {
                if ( ! extract( attr[i], attr[i+1], flag.x ) )
                {
                    return false;
                }
            }
            else
            {
                if ( ! extract( attr[i], attr[i+1], flag.x,
                                rect_stack.top().startx, rect_stack.top().endx ) )
                {
                    return false;
                }
            }
        }
        else if ( std::string( attr[i] ) == LandmarkReader::Y_KW )
        {
            if ( rect_stack.size() == 0 )
            {
                if ( ! extract( attr[i], attr[i+1], flag.y ) )
                {
                    return false;
                }
            }
            else
            {
                if ( ! extract( attr[i], attr[i+1], flag.y,
                                rect_stack.top().starty, rect_stack.top().endy ) )
                {
                    return false;
                }
            }
        }
        else if ( std::string( attr[i] ) == LandmarkReader::NAME_KW )
        {
            if ( ! extract( attr[i], attr[i+1], flag.name ) )
            {
                return false;
            }
        }
        else if ( std::string( attr[i] ) == LandmarkReader::VER_KW )
        {
            if ( ! extract( attr[i], attr[i+1], flag.ver ) )
            {
                return false;
            }
        }
        else
        {
            std::cerr << path << ": " << line
                      << ": Unknown attribute " << attr[i] << std::endl;
            return false;
        }
    }

    addFlag( flag, goal );
}
#endif // HAVE_LIBEXPAT

// 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.
std::ostream &
LandmarkReader::print( std::ostream & o ) const
{
    o << "<?xml version=\"1.0\"?>" << std::endl;