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[simspark-svn] SF.net SVN: simspark:[206] branches/agentselection/rcssserver3d
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From: <sgv...@us...> - 2010-06-01 11:03:43
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Revision: 206
http://simspark.svn.sourceforge.net/simspark/?rev=206&view=rev
Author: sgvandijk
Date: 2010-06-01 11:03:37 +0000 (Tue, 01 Jun 2010)
Log Message:
-----------
- Monitor command to position agent out of field
Modified Paths:
--------------
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/plugin/soccermonitor/soccerrender.cpp
branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-06-01 10:07:38 UTC (rev 205)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-06-01 11:03:37 UTC (rev 206)
@@ -34,6 +34,7 @@
using namespace std;
using namespace boost;
+using namespace salt;
using namespace zeitgeist;
using namespace oxygen;
@@ -48,6 +49,7 @@
mCommandMap["getAck"] = CT_ACK;
mCommandMap["select"] = CT_SELECT;
mCommandMap["kill"] = CT_KILL;
+ mCommandMap["repos"] = CT_REPOS;
// setup team index map
// Originally team sides were "L","R" and "N"
@@ -157,6 +159,8 @@
bool
TrainerCommandParser::ParsePredicate(const oxygen::Predicate & predicate)
{
+ cerr << "repos 1" << endl;
+
SoccerBase::GetGameState(*this,mGameState);
SoccerBase::GetSoccerRuleAspect(*this,mSoccerRule);
@@ -207,6 +211,9 @@
case CT_KILL:
ParseKillCommand(predicate);
break;
+ case CT_REPOS:
+ ParseReposCommand(predicate);
+ break;
default:
return false;
}
@@ -630,4 +637,67 @@
}
}
+void TrainerCommandParser::ParseReposCommand(const oxygen::Predicate & predicate)
+{
+ cerr << "repos 2" << endl;
+
+ 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;
+
+ SoccerBase::TAgentStateList agentStates;
+ SoccerBase::GetAgentStates(*this, agentStates, TI_NONE);
+ SoccerBase::TAgentStateList::iterator iter = agentStates.begin();
+ boost::shared_ptr<oxygen::Transform> agent_aspect;
+ for (;iter != agentStates.end(); ++iter)
+ {
+ if ((specified && (*iter)->GetUniformNumber() == unum && (*iter)->GetTeamIndex() == idx) ||
+ (!specified && (*iter)->IsSelected()))
+ {
+ Vector3f ballPos(0,0,0);
+ boost::shared_ptr<RigidBody> ballBody;
+
+ if (SoccerBase::GetBallBody(*this, ballBody))
+ ballPos = ballBody->GetPosition();
+
+ SoccerBase::GetTransformParent(**iter, agent_aspect);
+ cerr << "repos 3" << endl;
+ Vector3f new_pos = mSoccerRule->RepositionOutsidePos(ballPos, (*iter)->GetUniformNumber(), (*iter)->GetTeamIndex());
+ SoccerBase::MoveAgent(agent_aspect, new_pos);
+
+ break;
+ }
+ }
+}
+
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-06-01 10:07:38 UTC (rev 205)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-06-01 11:03:37 UTC (rev 206)
@@ -51,7 +51,8 @@
CT_KICK_OFF,
CT_ACK,
CT_SELECT,
- CT_KILL
+ CT_KILL,
+ CT_REPOS
};
typedef std::map<std::string, ECommandType> TCommandMap;
@@ -117,6 +118,11 @@
predicate
*/
void ParseKillCommand(const oxygen::Predicate & predicate);
+
+ /** parses and executes the reposition command contained in the given
+ predicate
+ */
+ void ParseReposCommand(const oxygen::Predicate & predicate);
protected:
TCommandMap mCommandMap;
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-06-01 10:07:38 UTC (rev 205)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-06-01 11:03:37 UTC (rev 206)
@@ -74,6 +74,7 @@
scriptServer->CreateVariable("Command.SelectNextAgent", CmdSelectNextAgent);
scriptServer->CreateVariable("Command.ResetSelection", CmdResetSelection);
scriptServer->CreateVariable("Command.KillSelection", CmdKillSelection);
+ scriptServer->CreateVariable("Command.ReposSelection", CmdReposSelection);
mMonitorClient = shared_dynamic_cast<NetClient>
(GetCore()->Get("/sys/server/simulation/SparkMonitorClient"));
@@ -157,6 +158,13 @@
}
break;
+ case CmdReposSelection:
+ if (input.GetKeyPress())
+ {
+ SendCommand("(repos)");
+ }
+ break;
+
case CmdKickOff:
if (input.GetKeyPress())
{
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-06-01 10:07:38 UTC (rev 205)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-06-01 11:03:37 UTC (rev 206)
@@ -68,7 +68,8 @@
CmdPlayerSelectMode = CmdRight + 1,
CmdSelectNextAgent = CmdPlayerSelectMode + 1,
CmdResetSelection = CmdSelectNextAgent + 1,
- CmdKillSelection = CmdResetSelection + 1
+ CmdKillSelection = CmdResetSelection + 1,
+ CmdReposSelection = CmdKillSelection + 1
};
enum ECmdMode
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.cpp 2010-06-01 10:07:38 UTC (rev 205)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.cpp 2010-06-01 11:03:37 UTC (rev 206)
@@ -149,8 +149,8 @@
xPos = int((1024-(mFont->GetStringWidth(ss_c.str().c_str())))/2);
mFont->DrawString(xPos, 0, ss_c.str().c_str());
- ss_m << mInput->GetCmdMode();
- mFont->DrawString(10, 30, ss_m.str().c_str());
+ //ss_m << mInput->GetCmdMode();
+ //mFont->DrawString(10, 30, ss_m.str().c_str());
mFontServer->End();
}
Modified: branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-06-01 10:07:38 UTC (rev 205)
+++ branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-06-01 11:03:37 UTC (rev 206)
@@ -55,5 +55,6 @@
inputServer.bindCommand('n', Command.SelectNextAgent);
inputServer.bindCommand('e', Command.ResetSelection);
inputServer.bindCommand('x', Command.KillSelection);
+ inputServer.bindCommand('p', Command.ReposSelection);
end
end
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