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[simspark-svn] SF.net SVN: simspark:[355] trunk/rcssserver3d
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From: <he...@us...> - 2013-06-08 21:23:57
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Revision: 355
http://sourceforge.net/p/simspark/svn/355
Author: hedayat
Date: 2013-06-08 21:23:54 +0000 (Sat, 08 Jun 2013)
Log Message:
-----------
Check the number of hetero players each team can use.
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp
trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.h
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2013-06-05 20:03:19 UTC (rev 354)
+++ trunk/rcssserver3d/ChangeLog 2013-06-08 21:23:54 UTC (rev 355)
@@ -1,3 +1,14 @@
+2013-06-09 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/soccer/gamestateaspect/gamestateaspect.h:
+ * plugin/soccer/gamestateaspect/gamestateaspect.cpp:
+ * plugin/soccer/agentstate/agentstate.cpp (AgentState::OnUnlink):
+ * rcssserver3d/naosoccersim.rb:
+ - control the number of heterogeneous players each team can use. It limits
+ both the total number of heterogeneous players of each team
+ (MaxTotalHeteroCount variable in naosoccersim.rb), and the number of
+ heterogeneous players of each type (MaxHeteroTypeCount variable)
+
2013-06-06 Hedayat Vatankhah <hed...@gm...>
* plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.h:
@@ -4,7 +15,7 @@
* plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp:
* plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor_c.cpp:
* data/rsg/agent/nao/naoneckhead.rsg:
- - Add MyOrientation sensing by Patrick (setSenseMyOrien in rsg file)
+ - added MyOrientation sensing by Patrick (setSenseMyOrien in rsg file)
2013-04-25 Hedayat Vatankhah <hed...@gm...>
Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2013-06-05 20:03:19 UTC (rev 354)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2013-06-08 21:23:54 UTC (rev 355)
@@ -251,7 +251,8 @@
return;
}
- game_state->ReturnUniform(GetTeamIndex(), GetUniformNumber());
+ game_state->ReturnUniform(GetTeamIndex(), GetUniformNumber(),
+ GetRobotType());
}
bool
Modified: trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp 2013-06-05 20:03:19 UTC (rev 354)
+++ trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp 2013-06-08 21:23:54 UTC (rev 355)
@@ -38,14 +38,21 @@
mFupTime = 0;
mLastModeChange = 0;
mGameHalf = GH_FIRST;
+ mRobotTypeCount[0].push_back(0); // add count for type 0 (default type)
+ mRobotTypeCount[1].push_back(0);
+ mHeteroCount[0] = 0;
+ mHeteroCount[1] = 0;
mScore[0] = 0;
mScore[1] = 0;
mLastKickOffGameHalf = GH_NONE;
mNextHalfKickOff = TI_NONE;
mLeftInit = Vector3f(0,0,0);
mRightInit = Vector3f(0,0,0);
+ mAgentRadius = 3.5;
mFinished = false;
mGamePaused = true;
+ mMaxHeteroTypeCount = 3;
+ mMaxTotalHeteroCount = 9;
}
GameStateAspect::~GameStateAspect()
@@ -266,6 +273,82 @@
}
bool
+GameStateAspect::InsertRobotType(TTeamIndex idx, int type)
+{
+ int i;
+
+ switch (idx)
+ {
+ case TI_LEFT:
+ i = 0;
+ break;
+ case TI_RIGHT:
+ i = 1;
+ break;
+ default:
+ return false;
+ }
+
+ if (type) // heterogeneous player
+ {
+ if (mHeteroCount[i] == mMaxTotalHeteroCount)
+ {
+ GetLog()->Error()
+ << "ERROR: (GameStateAspect::InsertRobotType) Hetero player"
+ " count limit reached.\n";
+ return false;
+ }
+
+ ++mHeteroCount[i];
+
+ if (mRobotTypeCount[i].size() <= type)
+ mRobotTypeCount[i].resize(type+1);
+
+ if (mRobotTypeCount[i][type] == mMaxHeteroTypeCount)
+ {
+ GetLog()->Error()
+ << "ERROR: (GameStateAspect::InsertRobotType) No more robots "
+ "of type " << type << " are allowed.\n";
+ return false;
+ }
+ }
+
+ ++mRobotTypeCount[i][type];
+
+ return true;
+}
+
+bool
+GameStateAspect::EraseRobotType(TTeamIndex idx, int type)
+{
+ int i;
+
+ switch (idx)
+ {
+ case TI_LEFT:
+ i = 0;
+ break;
+ case TI_RIGHT:
+ i = 1;
+ break;
+ default:
+ return false;
+ }
+
+ if (mRobotTypeCount[i].size() <= type || !mRobotTypeCount[i][type])
+ {
+ return false;
+ }
+
+ if (type) // heterogeneous player
+ --mHeteroCount[i];
+
+ --mRobotTypeCount[i][type];
+
+ return true;
+}
+
+bool
GameStateAspect::RequestUniform(boost::shared_ptr<AgentState> agentState,
std::string teamName, unsigned int unum)
{
@@ -297,6 +380,15 @@
return false;
}
+ if (!InsertRobotType(idx, agentState->GetRobotType()))
+ {
+ GetLog()->Error()
+ << "ERROR: (GameStateAspect::RequestUniform) cannot insert robot"
+ " of type " << agentState->GetRobotType() << " to team "
+ << teamName << "\n";
+ return false;
+ }
+
agentState->SetUniformNumber(unum);
agentState->SetTeamIndex(idx);
//agentState->SetPerceptName(teamName, ObjectState::PT_Default);
@@ -311,7 +403,7 @@
}
bool
-GameStateAspect::ReturnUniform(TTeamIndex ti, unsigned int unum)
+GameStateAspect::ReturnUniform(TTeamIndex ti, unsigned int unum, int type)
{
if (! EraseUnum(ti,unum))
{
@@ -321,6 +413,14 @@
return false;
}
+ if (!EraseRobotType(ti, type))
+ {
+ GetLog()->Error()
+ << "ERROR: (GameStateAspect::ReturnUniform) cannot erase robot "
+ " type " << type << " from team " << ti << "\n";
+ return false;
+ }
+
return true;
}
@@ -445,6 +545,9 @@
SoccerBase::GetSoccerVar(*this, "CoinTossForKickOff", coinTossKickOff);
if (!coinTossKickOff)
mNextHalfKickOff = TI_LEFT;
+
+ SoccerBase::GetSoccerVar(*this, "MaxHeteroTypeCount", mMaxHeteroTypeCount);
+ SoccerBase::GetSoccerVar(*this, "MaxTotalHeteroCount", mMaxTotalHeteroCount);
}
int
Modified: trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.h 2013-06-05 20:03:19 UTC (rev 354)
+++ trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.h 2013-06-08 21:23:54 UTC (rev 355)
@@ -24,6 +24,7 @@
#include <soccercontrolaspect/soccercontrolaspect.h>
#include <set>
+#include <vector>
class AgentState;
@@ -87,7 +88,7 @@
std::string teamName, unsigned int unum);
/** notifies that a uniform number is free again */
- bool ReturnUniform(TTeamIndex ti, unsigned int unum);
+ bool ReturnUniform(TTeamIndex ti, unsigned int unum, int type);
/** returns the next uniform number not taken for the given team */
int RequestUniformNumber(TTeamIndex ti) const;
@@ -133,6 +134,18 @@
contain a uniform number unum and erases it. */
bool EraseUnum(TTeamIndex idx, int unum);
+ /**
+ * Adds a robot of the given type to the given team if permitted.
+ * @return true if permitted
+ */
+ bool InsertRobotType(TTeamIndex idx, int type);
+
+ /**
+ * Removes a robot of the given type from the given team if exists.
+ * @return true on success
+ */
+ bool EraseRobotType(TTeamIndex idx, int type);
+
/** returns the team index corresponding to the given teamName. If
the teamname does not exist and less than two teams are
registered, the given team name is registered.
@@ -170,6 +183,12 @@
/** the set of uniform number for each team */
TUnumSet mUnumSet[2];
+ /** the array of robot type counts for each team */
+ std::vector<int> mRobotTypeCount[2];
+
+ /** the number of heterogeneous players for each team */
+ int mHeteroCount[2];
+
/** the scores of two teams */
int mScore[2];
@@ -187,6 +206,12 @@
/** flag if the game is running or paused (e.g. in goal_left/right state) */
bool mGamePaused;
+
+ /** the maximum number of heterogeneous players of a single type per team */
+ int mMaxHeteroTypeCount;
+
+ /** the maximum number of total heterogeneous players for a team */
+ int mMaxTotalHeteroCount;
};
DECLARE_CLASS(GameStateAspect);
Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2013-06-05 20:03:19 UTC (rev 354)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2013-06-08 21:23:54 UTC (rev 355)
@@ -60,6 +60,8 @@
# agent parameters
addSoccerVar('AgentRadius', 0.4)
+addSoccerVar('MaxHeteroTypeCount', 3)
+addSoccerVar('MaxTotalHeteroCount', 9)
# ball parameters
addSoccerVar('BallRadius', 0.042)
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