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[simspark-svn] SF.net SVN: simspark:[201] branches/agentselection
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From: <sgv...@us...> - 2010-05-19 14:58:23
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Revision: 201
http://simspark.svn.sourceforge.net/simspark/?rev=201&view=rev
Author: sgvandijk
Date: 2010-05-19 14:58:17 +0000 (Wed, 19 May 2010)
Log Message:
-----------
- clear selection, clear selected agent, monitorinput controls
Modified Paths:
--------------
branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg
branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
branches/agentselection/spark/data/scripts/materials.rb
Modified: branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg 2010-05-19 14:58:17 UTC (rev 201)
@@ -69,9 +69,10 @@
(nd GameStatePerceptor)
(nd HearPerceptor)
(nd Transform
- (nd Sphere
+ (nd Cylinder
(setName SelectionMarker)
- (setRadius 0.4)
+ (setParams 1.0 1.0)
+ (setScale 0.2 0.2 0.02)
(setMaterial matSelect)
(setTransparent)
)
Modified: branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2010-05-19 14:58:17 UTC (rev 201)
@@ -250,7 +250,6 @@
void
AgentState::Select(bool s)
{
- cerr << "Selecting " << mUniformNumber << endl;
mSelected = s;
}
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-19 14:58:17 UTC (rev 201)
@@ -212,8 +212,9 @@
}
void
-SoccerRuleAspect::ClearSelectedPlayers(float min_dist)
+SoccerRuleAspect::ClearSelectedPlayers()
{
+ float min_dist = mFreeKickMoveDist;
std::list<boost::shared_ptr<AgentState> > agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
return;
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-19 14:58:17 UTC (rev 201)
@@ -100,6 +100,8 @@
void SelectNextAgent();
+ void ClearSelectedPlayers();
+
protected:
/** rereads the current soccer script values */
virtual void UpdateCachedInternal();
@@ -194,8 +196,6 @@
* @param idx the team which kick off
*/
void ClearPlayersBeforeKickOff(TTeamIndex idx);
-
- void ClearSelectedPlayers(float min_dist);
protected:
/** reference to the body node of the Ball */
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-05-19 14:58:17 UTC (rev 201)
@@ -47,6 +47,7 @@
mCommandMap["kickOff"] = CT_KICK_OFF;
mCommandMap["getAck"] = CT_ACK;
mCommandMap["select"] = CT_SELECT;
+ mCommandMap["kill"] = CT_KILL;
// setup team index map
// Originally team sides were "L","R" and "N"
@@ -203,6 +204,9 @@
case CT_SELECT:
ParseSelectCommand(predicate);
break;
+ case CT_KILL:
+ ParseKillCommand(predicate);
+ break;
default:
return false;
}
@@ -240,6 +244,12 @@
else
specified = false;
+ if (!specified)
+ {
+ mSoccerRule->ClearSelectedPlayers();
+ return;
+ }
+
SoccerBase::TAgentStateList agentStates;
SoccerBase::GetAgentStates(*this, agentStates, (specified ? idx : TI_NONE));
SoccerBase::TAgentStateList::iterator iter = agentStates.begin();
@@ -247,7 +257,7 @@
while (iter != agentStates.end() && !found)
{
- if ((specified && (*iter)->GetUniformNumber() == unum) ||
+ if ((specified && (*iter)->GetUniformNumber() == unum && (*iter)->GetTeamIndex() == idx) ||
(!specified && (*iter)->IsSelected()))
found = true;
else
@@ -319,31 +329,6 @@
}
}
- Predicate::Iterator killParam(predicate);
- if (predicate.FindParameter(killParam, "kill"))
- {
- GameControlServer::TAgentAspectList agentAspects;
- mGameControl->GetAgentAspectList(agentAspects);
-
- GameControlServer::TAgentAspectList::iterator aaiter;
- for (
- aaiter = agentAspects.begin();
- aaiter != agentAspects.end();
- ++aaiter
- )
- {
- // search for the first agent of the left/right side
- boost::shared_ptr<AgentState> agentState =
- shared_dynamic_cast<AgentState>((*aaiter)->GetChild("AgentState", true));
-
- if (agentState == *iter)
- {
- mGameControl->pushDisappearedAgent((*aaiter)->ID());
- break;
- }
- }
- }
-
// Joschka: I removed the part to set a velocity because it doesn't really
// seem to have a meaning for agents that have more than just a single body
@@ -534,6 +519,12 @@
else
specified = false;
+ if (specified && unum == -1)
+ {
+ soccerRuleAspect->ResetAgentSelection();
+ return;
+ }
+
string team;
TTeamIndex idx;
Predicate::Iterator teamParam(predicate);
@@ -578,3 +569,64 @@
(*iter)->Select();
}
+
+void TrainerCommandParser::ParseKillCommand(const oxygen::Predicate & predicate)
+{
+ Predicate::Iterator unumParam(predicate);
+ int unum;
+ bool specified = true;
+
+ shared_ptr<SoccerRuleAspect> soccerRuleAspect;
+ if (!SoccerBase::GetSoccerRuleAspect(*this, soccerRuleAspect))
+ {
+ GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n";
+ return;
+ }
+
+ // extract unum
+ if (predicate.FindParameter(unumParam, "unum"))
+ {
+ if (! predicate.GetValue(unumParam, unum))
+ specified = false;
+ }
+ else
+ specified = false;
+
+ string team;
+ TTeamIndex idx;
+ Predicate::Iterator teamParam(predicate);
+
+ // extract side
+ if (predicate.FindParameter(teamParam, "team"))
+ {
+ if (! predicate.GetValue(teamParam, team))
+ specified = false;
+ else
+ idx = mTeamIndexMap[team];
+ }
+ else
+ specified = false;
+
+ GameControlServer::TAgentAspectList agentAspects;
+ mGameControl->GetAgentAspectList(agentAspects);
+ GameControlServer::TAgentAspectList::iterator aaiter;
+ for (
+ aaiter = agentAspects.begin();
+ aaiter != agentAspects.end();
+ ++aaiter
+ )
+ {
+ // search for the first agent of the left/right side
+ boost::shared_ptr<AgentState> agentState =
+ shared_dynamic_cast<AgentState>((*aaiter)->GetChild("AgentState", true));
+
+ if ((specified && agentState->GetUniformNumber() == unum && agentState->GetTeamIndex() == idx) ||
+ (!specified && agentState->IsSelected()))
+ {
+ mGameControl->pushDisappearedAgent((*aaiter)->ID());
+ break;
+ }
+ }
+}
+
+
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-05-19 14:58:17 UTC (rev 201)
@@ -50,7 +50,8 @@
CT_DROP_BALL,
CT_KICK_OFF,
CT_ACK,
- CT_SELECT
+ CT_SELECT,
+ CT_KILL
};
typedef std::map<std::string, ECommandType> TCommandMap;
@@ -112,6 +113,10 @@
*/
void ParseSelectCommand(const oxygen::Predicate & predicate);
+ /** parses and executes the kill command contained in the given
+ predicate
+ */
+ void ParseKillCommand(const oxygen::Predicate & predicate);
protected:
TCommandMap mCommandMap;
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-19 14:58:17 UTC (rev 201)
@@ -62,6 +62,7 @@
scriptServer->CreateVariable("Command.NextMode", CmdNextMode);
scriptServer->CreateVariable("Command.SelectNextAgent", CmdSelectNextAgent);
+ scriptServer->CreateVariable("Command.ResetSelection", CmdResetSelection);
scriptServer->CreateVariable("Command.KillSelection", CmdKillSelection);
mMonitorClient = shared_dynamic_cast<NetClient>
@@ -148,10 +149,17 @@
}
break;
+ case CmdResetSelection:
+ if (input.GetKeyPress())
+ {
+ SendCommand("(select (unum -1))");
+ }
+ break;
+
case CmdKillSelection:
if (input.GetKeyPress())
{
- SendCommand("(agent (kill 1))");
+ SendCommand("(kill)");
}
break;
@@ -171,7 +179,7 @@
case CmdMoveAgent:
if (input.GetKeyPress())
{
- //SendCommand("(agent (team Left)(unum 1)(pos -2.0 1.0 3.5))");
+ SendCommand("(agent)");
}
break;
case CmdDropBall:
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-19 14:58:17 UTC (rev 201)
@@ -55,7 +55,8 @@
CmdNextMode = CmdFreeKickRight + 1,
CmdSelectNextAgent = CmdNextMode + 1,
- CmdKillSelection = CmdSelectNextAgent + 1
+ CmdResetSelection = CmdSelectNextAgent + 1,
+ CmdKillSelection = CmdResetSelection + 1
};
enum ECmdMode
Modified: branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-19 14:58:17 UTC (rev 201)
@@ -27,7 +27,7 @@
inputServer.bindCommand('k', Command.KickOff);
inputServer.bindCommand('j', Command.KickOffRight);
inputServer.bindCommand('b', Command.DropBall);
- #inputServer.bindCommand('m', Command.MoveAgent);
+ inputServer.bindCommand('m', Command.MoveAgent);
#inputServer.bindCommand('n', Command.ShootBall);
#inputServer.bindCommand('x', Command.MoveBall);
inputServer.bindCommand('1', Command.CameraLeftGoal);
@@ -41,6 +41,7 @@
inputServer.bindCommand('r', Command.FreeKickRight);
inputServer.bindCommand('lctrl y', Command.NextMode);
inputServer.bindCommand('n', Command.SelectNextAgent);
+ inputServer.bindCommand('e', Command.ResetSelection);
inputServer.bindCommand('x', Command.KillSelection);
end
end
Modified: branches/agentselection/spark/data/scripts/materials.rb
===================================================================
--- branches/agentselection/spark/data/scripts/materials.rb 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/spark/data/scripts/materials.rb 2010-05-19 14:58:17 UTC (rev 201)
@@ -36,9 +36,9 @@
# selection marker
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matSelect');
-material.setDiffuse(1.0,0.0,0.0,0.4)
-material.setAmbient(1.0,0.0,0.0,1.0)
-material.setSpecular(1.0,0.5,0.5,1.0);
+material.setDiffuse(1.0,0.0,0.0,0.5)
+material.setAmbient(1.0,0.0,0.0,0.5)
+material.setSpecular(1.0,0.2,0.2,0.5);
# shades of grey
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matWhite');
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