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[simspark-svn] SF.net SVN: simspark:[405] trunk/rcssserver3d
|
From: <pat...@us...> - 2016-05-29 05:27:59
|
Revision: 405
http://sourceforge.net/p/simspark/svn/405
Author: patmac369
Date: 2016-05-29 05:27:56 +0000 (Sun, 29 May 2016)
Log Message:
-----------
Adding changes for the RoboCup 2016 competition. Additions are the following:
- Updated and revised foul model
- Most free kicks are now indirect and direct_free_kick playmodes are added
- Keepaway mode
- Say messages with illegal characters are thrown out
- Plugin for sending draw commands to roboviz (rvdraw)
Modified Paths:
--------------
trunk/rcssserver3d/CMakeLists.txt
trunk/rcssserver3d/cmake/FindODE.cmake
trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h
trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp
trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h
trunk/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp
trunk/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.h
trunk/rcssserver3d/plugin/soccer/sayeffector/sayeffector.cpp
trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
trunk/rcssserver3d/plugin/soccer/soccertypes.h
trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
trunk/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
trunk/rcssserver3d/plugin/soccermonitor/soccerinput.h
trunk/rcssserver3d/rcssmonitor3d/soccerbindings.rb
trunk/rcssserver3d/rcssserver3d/main.cpp
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
Added Paths:
-----------
trunk/rcssserver3d/plugin/soccer/rvdraw/
trunk/rcssserver3d/plugin/soccer/rvdraw/rvdraw.cpp
trunk/rcssserver3d/plugin/soccer/rvdraw/rvdraw.h
Modified: trunk/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/CMakeLists.txt 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/CMakeLists.txt 2016-05-29 05:27:56 UTC (rev 405)
@@ -1,8 +1,13 @@
cmake_minimum_required(VERSION 2.6)
project(rcssserver3d CXX C)
-set(PACKAGE_VERSION "0.6.10")
+set(PACKAGE_VERSION "0.6.11")
+option(RVDRAW "Enable roboviz drawings" OFF)
+if (RVDRAW)
+ add_definitions(-DRVDRAW)
+endif (RVDRAW)
+
########## check for headerfiles/libraries ##########
include(CheckIncludeFile)
check_include_file("sys/socket.h" HAVE_SYS_SOCKET_H)
@@ -26,7 +31,7 @@
find_package(Spark REQUIRED)
find_package(Freetype REQUIRED)
-find_package(Boost REQUIRED system)
+find_package(Boost REQUIRED system regex)
find_package(SDL REQUIRED)
find_package(DevIL REQUIRED)
find_package(ODE REQUIRED)
Modified: trunk/rcssserver3d/cmake/FindODE.cmake
===================================================================
--- trunk/rcssserver3d/cmake/FindODE.cmake 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/cmake/FindODE.cmake 2016-05-29 05:27:56 UTC (rev 405)
@@ -97,6 +97,7 @@
${ODE_CONFIG_PREFIX}/lib
/usr/lib
/usr/lib64
+ /usr/lib/x86_64-linux-gnu
/usr/local/lib
$ENV{ODE_HOME}/lib
C:/library/ode/lib/
Modified: trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2016-05-29 05:27:56 UTC (rev 405)
@@ -51,6 +51,11 @@
rcs3dmonitor/rcs3dmonitor.h
)
+if (RVDRAW)
+ list(APPEND soccer_LIB_HDRS rvdraw/rvdraw.h)
+endif (RVDRAW)
+
+
set(soccer_LIB_SRCS
export.cpp
agentstate/agentstate.cpp
@@ -131,6 +136,11 @@
rcs3dmonitor/rcs3dmonitor_c.cpp
)
+if (RVDRAW)
+ list(APPEND soccer_LIB_SRCS rvdraw/rvdraw.cpp)
+endif (RVDRAW)
+
+
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${FREETYPE_INCLUDE_DIRS}
${IL_INCLUDE_DIR})
Modified: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp 2016-05-29 05:27:56 UTC (rev 405)
@@ -7,6 +7,8 @@
{
}
+#include <ode/ode.h>
+
void AgentCollisionHandler::HandleCollision(boost::shared_ptr<Collider> collidee, GenericContact& contact)
{
if (!mAgentState.get())
@@ -44,6 +46,14 @@
myGroup->clear();
mAgentState->SetTouchGroup(otherGroup);
}
+ dContact& ODEContact = (dContact&) contact;
+ //GetLog()->Error() << "(AgentCollisionHandler) contact pos " << ODEContact.geom.pos[0]<<","<< ODEContact.geom.pos[1] << ","<< ODEContact.geom.pos[2] << "\n";
+ mAgentState->mCollisionPos.x() = ODEContact.geom.pos[0];
+ mAgentState->mCollisionPos.y() = ODEContact.geom.pos[1];
+ mAgentState->mCollisionPos.z() = ODEContact.geom.pos[2];
+ other->mCollisionPos.x() = ODEContact.geom.pos[0];
+ other->mCollisionPos.y() = ODEContact.geom.pos[1];
+ other->mCollisionPos.z() = ODEContact.geom.pos[2];
}
}
Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2016-05-29 05:27:56 UTC (rev 405)
@@ -122,6 +122,9 @@
/** Set the current touch group */
void SetTouchGroup(boost::shared_ptr<TouchGroup> group);
+ /** Point at which collision with another agent occurred */
+ salt::Vector3f mCollisionPos;
+
protected:
/** team index */
TTeamIndex mTeamIndex;
Modified: trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp 2016-05-29 05:27:56 UTC (rev 405)
@@ -49,6 +49,13 @@
{
}
+
+bool BallStateAspect::GetCollidingAgents(list<boost::shared_ptr<AgentAspect> >& agents)
+{
+ agents = mCollidingAgents;
+ return agents.size() > 0;
+}
+
bool BallStateAspect::GetLastCollidingAgent(boost::shared_ptr<AgentAspect>& agent,
TTime& time)
{
@@ -67,10 +74,11 @@
return (agent.get() != 0);
}
-void BallStateAspect::UpdateLastCollidingAgent()
+void BallStateAspect::UpdateCollidingAgents()
{
mCollidingWithLeftTeamAgent = false;
mCollidingWithRightTeamAgent = false;
+ mCollidingAgents = list<boost::shared_ptr<AgentAspect> >();
// get a list of agents that collided with the ball since the last
// update of the recorder and remember the first returned node as
@@ -96,6 +104,7 @@
" get AgentState from an AgentAspect\n";
}
else {
+ mCollidingAgents.push_back(agent);
TTeamIndex team = agentState->GetTeamIndex();
if (team == TI_LEFT) {
mCollidingWithLeftTeamAgent = true;
@@ -184,7 +193,7 @@
return;
}
- UpdateLastCollidingAgent();
+ UpdateCollidingAgents();
UpdateBallOnField();
UpdateLastValidBallPos();
UpdateGoalState();
Modified: trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h 2016-05-29 05:27:56 UTC (rev 405)
@@ -47,6 +47,11 @@
*/
virtual void Update(float deltaTime);
+ /** returns list of agents colliding with the ball
+ */
+ bool GetCollidingAgents
+ (std::list<boost::shared_ptr<oxygen::AgentAspect> >& agents);
+
/** returns the last agent that collided with the ball and the
time when this happened*/
bool GetLastCollidingAgent
@@ -88,10 +93,8 @@
/** reset the reference to the ball and field recorder */
virtual void OnUnlink();
- /** updates the reference to the last agent that collided with the
- ball
- */
- void UpdateLastCollidingAgent();
+ /** updates the references to agents colliding with the ball */
+ void UpdateCollidingAgents();
/** checks if the ball is on the playing field an updates the
mBallOnField flag
@@ -120,6 +123,9 @@
/** reference to the right goal recorder */
boost::shared_ptr<oxygen::RecorderHandler> mRightGoalRecorder;
+ /** list of references to agents currently colliding with the ball */
+ std::list<boost::shared_ptr<oxygen::AgentAspect> > mCollidingAgents;
+
/** holds a reference to the last agent that collided with the
ball */
boost::shared_ptr<oxygen::AgentAspect> mLastCollidingAgent;
Modified: trunk/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp 2016-05-29 05:27:56 UTC (rev 405)
@@ -61,6 +61,8 @@
//JAN
scriptServer->CreateVariable("Command.FreeKickLeft", CmdFreeKickLeft);
scriptServer->CreateVariable("Command.FreeKickRight", CmdFreeKickRight);
+ scriptServer->CreateVariable("Command.DirectFreeKickLeft", CmdDirectFreeKickLeft);
+ scriptServer->CreateVariable("Command.DirectFreeKickRight", CmdDirectFreeKickRight);
scriptServer->CreateVariable("Command.NextCamera", CmdNextCamera);
scriptServer->CreateVariable("Command.PreviousCamera", CmdPreviousCamera);
@@ -255,6 +257,19 @@
}
break;
+ case CmdDirectFreeKickLeft:
+ if (input.GetKeyPress())
+ {
+ mGameState->SetPlayMode(PM_DIRECT_FREE_KICK_LEFT);
+ }
+ break;
+ case CmdDirectFreeKickRight:
+ if (input.GetKeyPress())
+ {
+ mGameState->SetPlayMode(PM_DIRECT_FREE_KICK_RIGHT);
+
+ }
+ break;
case CmdKillAgentLeft:
if (input.GetKeyPress())
{
Modified: trunk/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.h 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.h 2016-05-29 05:27:56 UTC (rev 405)
@@ -56,7 +56,9 @@
//JAN
CmdFreeKickLeft = CmdCameraRightGoal + 1,
CmdFreeKickRight = CmdFreeKickLeft + 1,
- CmdKillAgentLeft = CmdFreeKickRight + 1,
+ CmdDirectFreeKickLeft = CmdFreeKickRight + 1,
+ CmdDirectFreeKickRight = CmdDirectFreeKickLeft + 1,
+ CmdKillAgentLeft = CmdDirectFreeKickRight + 1,
CmdKillAgentRight = CmdKillAgentLeft + 1,
CmdNextCamera = CmdKillAgentRight + 1,
Added: trunk/rcssserver3d/plugin/soccer/rvdraw/rvdraw.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rvdraw/rvdraw.cpp (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/rvdraw/rvdraw.cpp 2016-05-29 05:27:56 UTC (rev 405)
@@ -0,0 +1,719 @@
+/*
+ * Copyright (C) 2011 Justin Stoecker
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "rvdraw.h"
+#include "soccertypes.h"
+
+long RVSender::uniqueIdNum;
+
+
+/**
+ * sockfd = -1 on error!
+ * This creates a socket, which
+ * is then closed by the
+ * destructor. Do not close the
+ * socket!
+ */
+RVSender::RVSender()
+{
+ socketCreated = false;
+ sockfd = -1;
+
+ struct addrinfo hints, *servinfo, *p_ptr;
+ int rv;
+
+ char *mHost = getenv("RVDRAW_HOST");
+ if (mHost == NULL) {
+ return;
+ }
+
+ memset(&hints, 0, sizeof hints);
+ hints.ai_family = AF_UNSPEC;
+ hints.ai_socktype = SOCK_DGRAM;
+
+ if ((rv = getaddrinfo(mHost, ROBOVIS_PORT, &hints, &servinfo)) != 0) {
+ fprintf(stderr, "getaddrinfo: %s\n", gai_strerror(rv));
+ return;
+ }
+
+ // loop through all the results and make a socket
+ for(p_ptr = servinfo; p_ptr != NULL; p_ptr = p_ptr->ai_next) {
+ if ((sockfd = socket(p_ptr->ai_family, p_ptr->ai_socktype,
+ p_ptr->ai_protocol)) == -1) {
+ perror("socket");
+ continue;
+ }
+
+ p = *p_ptr;
+
+ break;
+ }
+
+ if (p_ptr == NULL) {
+ fprintf(stderr, "failed to bind socket\n");
+ freeaddrinfo(servinfo);
+ return;
+ }
+
+ socketCreated = true;
+
+ //freeaddrinfo(servinfo);
+}
+
+/**
+ * Give a socket and addrinfo.
+ * Whoever created the socket is
+ * responsible for closing it!
+ */
+RVSender::RVSender(int sockfd_, struct addrinfo p_)
+{
+ socketCreated = false;
+ p = p_;
+ sockfd = sockfd_;
+}
+
+RVSender::~RVSender()
+{
+ if (socketCreated)
+ close(sockfd);
+}
+
+/*
+int RVSender::getSockFD()
+ {
+ return sockfd;
+ }
+
+struct addrinfo RVSender::getP()
+ {
+ return p;
+ }
+*/
+
+
+char RVSender::getTeamAgent(int uNum, int side) {
+ return (side == TI_LEFT ? uNum : uNum + 128) - 1;
+}
+
+//drawing colors are uniform & team specific
+//this must match the enum in rvdraw.h
+void RVSender::getColor(int uNum, float &r, float &g, float &b, bool shade) {
+ switch(uNum) {
+ case 1: //red
+ r = 1;
+ g = 0;
+ b = 0;
+ break;
+ case 2: //orange
+ r = 1;
+ g = 0.5f;
+ b = 0;
+ break;
+ case 3: //yellow
+ r = 1;
+ g = 1;
+ b = 0;
+ break;
+ case 4: //green
+ r = 0;
+ g = 1;
+ b = 0;
+ break;
+ case 5: //blue-green
+ r = 0;
+ g = 1;
+ b = 0.5f;
+ break;
+ case 6: //light blue
+ r = 0;
+ g = 1;
+ b = 1;
+ break;
+ case 7: //blue
+ r = 0;
+ g = 0.5f;
+ b = 1;
+ break;
+ case 8: //dark blue
+ r = 0;
+ g = 0;
+ b = 1;
+ break;
+ case 9: //violet
+ r = 0.5f;
+ g = 0;
+ b = 1;
+ break;
+ case 10: //pink
+ r = 1;
+ g = 0;
+ b = 1;
+ break;
+ case 11: //magenta
+ r = 1;
+ g = 0;
+ b = 0.5f;
+ break;
+ default:
+ r = 0;
+ g = 0;
+ b = 0;
+ }
+
+ // Get darker color
+ if (shade) {
+ r /= 2.0f;
+ g /= 2.0f;
+ b /= 2.0f;
+ }
+}
+
+string RVSender::getMyId() {
+ return "rcss";
+}
+
+string RVSender::getDrawingId(const string* name) {
+ stringstream stream;
+ stream << getMyId() << '.' << *name;
+ return stream.str();
+}
+
+string RVSender::getUniqueId(long unique) {
+ stringstream stream;
+ stream << '_' << unique << '.' << getMyId();
+ return stream.str();
+}
+
+string RVSender::getUniqueId() {
+ return getUniqueId(uniqueIdNum++);
+}
+
+void RVSender::flipPolygon(float *v, int numVerts) {
+ /* must flip each number, there are three numbers (x, y, z) for each vertex */
+ for (int i = 0; i < numVerts * 3; i++) {
+ v[i] = -v[i];
+ }
+}
+
+void RVSender::updateDrawings(string id, string buf) {
+ drawings[id] = buf;
+}
+
+
+// === Public Methods ===
+
+void RVSender::clear() {
+ for (map<string,string>::iterator it = drawings.begin();
+ it != drawings.end(); ++it) {
+ it->second = "";
+ }
+}
+
+void RVSender::refresh() {
+ string myId(getMyId());
+ swapBuffers(&myId);
+}
+
+void RVSender::clearStaticDrawings() {
+ for (long i = 0; i < uniqueIdNum; i++) {
+ string uniqueId = getUniqueId(i);
+ swapBuffers(&uniqueId);
+ }
+ uniqueIdNum = 0;
+}
+
+void RVSender::drawCircle(string name, double x, double y, double radius,
+ RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawCircle(name, x, y, radius, r, g, b);
+}
+
+void RVSender::drawCircle(string name, double x, double y, double radius, float r, float g, float b) {
+ string id = getDrawingId(&name);
+ string buf = string(id);
+ drawCircle(x, y, radius, 3, r, g, b, &buf);
+ updateDrawings(id, buf);
+}
+
+void RVSender::drawCircle(double x, double y, double radius, RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawCircle(x, y, radius, r, g, b);
+}
+
+void RVSender::drawCircle(double x, double y, double radius, float r, float g, float b) {
+ string id = getUniqueId();
+ string buf = string(id);
+ drawCircle(x, y, radius, 3, r, g, b, &buf);
+ swapBuffers(&id);
+}
+
+void RVSender::drawLine(string name, double x1, double y1, double x2, double y2,
+ RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawLine(name, x1, y1, x2, y2, r, g, b);
+}
+
+void RVSender::drawLine(string name, double x1, double y1, double x2, double y2,
+ float r, float g, float b) {
+ string id = getDrawingId(&name);
+ string buf = string(id);
+ drawLine(x1, y1, 0, x2, y2, 0, 3, r, g, b, &buf);
+ updateDrawings(id, buf);
+}
+
+void RVSender::drawLine(double x1, double y1, double x2, double y2, RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawLine(x1, y1, x2, y2, r, g, b);
+}
+
+void RVSender::drawLine(double x1, double y1, double x2, double y2, float r, float g, float b) {
+ string id = getUniqueId();
+ string buf = string(id);
+ drawLine(x1, y1, 0, x2, y2, 0, 3, r, g, b, &buf);
+ swapBuffers(&id);
+}
+
+void RVSender::drawText(string name, string text, double x, double y,
+ RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawText(name, text, x, y, r, g, b);
+}
+
+void RVSender::drawText(string name, string text, double x, double y,
+ float r, float g, float b) {
+ string id = getDrawingId(&name);
+ string buf = string(id);
+ drawAnnotation(&text, x, y, 0, r, g, b, &buf);
+ updateDrawings(id, buf);
+}
+
+void RVSender::drawText(string text, double x, double y,
+ RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawText(text, x, y, r, g, b);
+}
+
+void RVSender::drawText(string text, double x, double y,
+ float r, float g, float b) {
+ string id = getUniqueId();
+ string buf = string(id);
+ drawAnnotation(&text, x, y, 0, r, g, b, &buf);
+ swapBuffers(&id);
+}
+
+void RVSender::drawPoint(string name, double x, double y, double radius,
+ RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawPoint(name, x, y, radius, r, g, b);
+}
+
+void RVSender::drawPoint(string name, double x, double y, double radius,
+ float r, float g, float b) {
+ string id = getDrawingId(&name);
+ string buf = string(id);
+ drawPoint(x, y, 0, radius, r, g, b, &buf);
+ updateDrawings(id, buf);
+}
+
+void RVSender::drawPoint(double x, double y, double radius,
+ RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawPoint(x, y, radius, r, g, b);
+}
+
+void RVSender::drawPoint(double x, double y, double radius,
+ float r, float g, float b) {
+ string id = getUniqueId();
+ string buf = string(id);
+ drawPoint(x, y, 0, radius, r, g, b, &buf);
+ swapBuffers(&id);
+}
+
+void RVSender::drawSphere(string name, double x, double y, double z,
+ double radius, RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawSphere(name, x, y, z, radius, r, g, b);
+}
+
+void RVSender::drawSphere(string name, double x, double y, double z,
+ double radius, float r, float g, float b) {
+ string id = getDrawingId(&name);
+ string buf = string(id);
+ drawSphere(x, y, z, radius, r, g, b, &buf);
+ updateDrawings(id, buf);
+}
+
+void RVSender::drawSphere(double x, double y, double z,
+ double radius, RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawSphere(x, y, z, radius, r, g, b);
+}
+
+void RVSender::drawSphere(double x, double y, double z,
+ double radius, float r, float g, float b) {
+ string id = getUniqueId();
+ string buf = string(id);
+ drawSphere(x, y, z, radius, r, g, b, &buf);
+ swapBuffers(&id);
+}
+
+void RVSender::drawPolygon(string name, float *v, int numVerts,
+ RVSender::Color c, bool shade, float a) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawPolygon(name, v, numVerts, r, g, b, a);
+}
+
+void RVSender::drawPolygon(string name, float *v, int numVerts,
+ float r, float g, float b, float a) {
+ string id = getDrawingId(&name);
+ string buf = string(id);
+ drawPolygon((float*)v, numVerts, r, g, b, a, &buf);
+ updateDrawings(id, buf);
+}
+
+void RVSender::drawPolygon(float *v, int numVerts,
+ RVSender::Color c, bool shade, float a) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawPolygon(v, numVerts, r, g, b, a);
+}
+
+void RVSender::drawPolygon(float *v, int numVerts,
+ float r, float g, float b, float a) {
+ string id = getUniqueId();
+ string buf = string(id);
+ drawPolygon((float*)v, numVerts, r, g, b, a, &buf);
+ swapBuffers(&id);
+}
+
+void RVSender::drawAgentText(string text, int uNum, int side, RVSender::Color c, bool shade) {
+ float r, g, b;
+ getColor(c, r, g, b, shade);
+ drawAgentText(text, uNum, side, r, g, b);
+}
+
+void RVSender::drawAgentText(string text, int uNum, int side, float r, float g, float b) {
+ char teamAgent = getTeamAgent(uNum, side);
+ drawAgentAnnotation(&text, teamAgent, r, g, b);
+}
+
+void RVSender::removeAgentText(int u, int s) {
+ char teamAgent = getTeamAgent(u, s);
+ removeAgentAnnotation(teamAgent);
+}
+
+void RVSender::selectAgent(int u, int s) {
+ char teamAgent = getTeamAgent(u, s);
+ selectAgent(teamAgent);
+}
+
+void RVSender::swapBuffers(const string* setName) {
+ int bufSize = -1;
+ unsigned char* buf = newBufferSwap(setName, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::drawLine(float x1, float y1, float z1, float x2, float y2, float z2, float thickness, float r, float g, float b,
+ const string* setName) {
+ float pa[3] = {x1,y1,z1};
+ float pb[3] = {x2,y2,z2};
+ float color[3] = {r,g,b};
+
+ int bufSize = -1;
+ unsigned char* buf = newLine(pa, pb, thickness, color, setName, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::drawCircle(float x, float y, float radius, float thickness, float r, float g, float b, const string* setName) {
+ float center[2] = {x,y};
+ float color[3] = {r,g,b};
+
+ int bufSize = -1;
+ unsigned char* buf = newCircle(center, radius, thickness, color, setName, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::drawSphere(float x, float y, float z, float radius, float r, float g, float b, const string* setName) {
+ float center[3] = {x,y,z};
+ float color[3] = {r,g,b};
+
+ int bufSize = -1;
+ unsigned char* buf = newSphere(center, radius, color, setName, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::drawPoint(float x, float y, float z, float size, float r, float g, float b, const string* setName) {
+ float center[3] = {x,y,z};
+ float color[3] = {r,g,b};
+
+ //printf("Point: (%f, %f, %f)\n", x, y, z);
+
+ int bufSize = -1;
+ unsigned char* buf = newPoint(center, size, color, setName, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::drawPolygon(const float* v, int numVerts, float r, float g, float b, float a,
+ const string* setName) {
+ float color[4] = {r,g,b,a};
+
+ int bufSize = -1;
+ unsigned char* buf = newPolygon(v, numVerts, color, setName, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::drawAnnotation(const string *txt, float x, float y, float z,
+ float r, float g, float b, const string *setName)
+{
+ float color[3] = {r,g,b};
+ float point[3] = {x,y,z};
+ int bufSize = -1;
+ unsigned char *buf = newAnnotation(txt, point, color, setName, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::drawAgentAnnotation(const string *txt, char teamAgent,
+ float r, float g, float b)
+{
+ float color[3] = {r,g,b};
+ int bufSize = -1;
+ unsigned char *buf = newAgentAnnotation(txt, teamAgent, color, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::removeAgentAnnotation(char teamAgent)
+{
+ int bufSize = -1;
+ unsigned char *buf = newRemoveAgentAnnotation(teamAgent, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+void RVSender::selectAgent(char teamAgent)
+{
+ int bufSize = -1;
+ unsigned char *buf = newSelectAgent(teamAgent, &bufSize);
+ sendto(sockfd, buf, bufSize, 0, p.ai_addr, p.ai_addrlen);
+ delete[] buf;
+}
+
+// The following commands allocate memory, if you use them be sure to deallocate
+// the memory later.
+
+unsigned char* RVSender::newBufferSwap(const string* name, int* bufSize) {
+ *bufSize = 3 + ((name != NULL) ? name->length() : 0);
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 0);
+ i += writeCharToBuf(buf+i, 0);
+ i += writeStringToBuf(buf+i, name);
+
+ return buf;
+}
+
+unsigned char* RVSender::newCircle(const float* center, float radius, float thickness,
+ const float* color, const string* setName, int* bufSize) {
+
+ *bufSize = 30 + ((setName != NULL) ? setName->length() : 0);
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 1);
+ i += writeCharToBuf(buf+i, 0);
+ i += writeFloatToBuf(buf+i, center[0]);
+ i += writeFloatToBuf(buf+i, center[1]);
+ i += writeFloatToBuf(buf+i, radius);
+ i += writeFloatToBuf(buf+i, thickness);
+ i += writeColorToBuf(buf+i, color, 3);
+ i += writeStringToBuf(buf+i, setName);
+
+ return buf;
+}
+
+unsigned char* RVSender::newLine(const float* a, const float* b, float thickness,
+ const float* color, const string* setName, int* bufSize) {
+
+ *bufSize = 48 + ((setName != NULL) ? setName->length() : 0);
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 1);
+ i += writeCharToBuf(buf+i, 1);
+ i += writeFloatToBuf(buf+i, a[0]);
+ i += writeFloatToBuf(buf+i, a[1]);
+ i += writeFloatToBuf(buf+i, a[2]);
+ i += writeFloatToBuf(buf+i, b[0]);
+ i += writeFloatToBuf(buf+i, b[1]);
+ i += writeFloatToBuf(buf+i, b[2]);
+ i += writeFloatToBuf(buf+i, thickness);
+ i += writeColorToBuf(buf+i, color, 3);
+ i += writeStringToBuf(buf+i, setName);
+
+ return buf;
+}
+
+unsigned char* RVSender::newPoint(const float* p, float size, const float* color,
+ const string* setName, int* bufSize) {
+
+ *bufSize = 30 + ((setName != NULL) ? setName->length() : 0);
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 1);
+ i += writeCharToBuf(buf+i, 2);
+ i += writeFloatToBuf(buf+i, p[0]);
+ i += writeFloatToBuf(buf+i, p[1]);
+ i += writeFloatToBuf(buf+i, p[2]);
+ i += writeFloatToBuf(buf+i, size);
+ i += writeColorToBuf(buf+i, color, 3);
+ i += writeStringToBuf(buf+i, setName);
+
+ return buf;
+}
+
+unsigned char* RVSender::newSphere(const float* p, float radius, const float* color,
+ const string* setName, int* bufSize) {
+
+ *bufSize = 30 + ((setName != NULL) ? setName->length() : 0);
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 1);
+ i += writeCharToBuf(buf+i, 3);
+ i += writeFloatToBuf(buf+i, p[0]);
+ i += writeFloatToBuf(buf+i, p[1]);
+ i += writeFloatToBuf(buf+i, p[2]);
+ i += writeFloatToBuf(buf+i, radius);
+ i += writeColorToBuf(buf+i, color, 3);
+ i += writeStringToBuf(buf+i, setName);
+
+ return buf;
+}
+
+unsigned char* RVSender::newPolygon(const float* v, int numVerts, const float* color,
+ const string* setName, int* bufSize) {
+
+ *bufSize = 18 * numVerts + 8 + ((setName != NULL) ? setName->length() : 0);
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 1);
+ i += writeCharToBuf(buf+i, 4);
+ i += writeCharToBuf(buf+i, numVerts);
+ i += writeColorToBuf(buf+i, color, 4);
+
+ for (int j = 0; j < numVerts; j++) {
+ i += writeFloatToBuf(buf+i, v[j*3+0]);
+ i += writeFloatToBuf(buf+i, v[j*3+1]);
+ i += writeFloatToBuf(buf+i, v[j*3+2]);
+ }
+
+ i += writeStringToBuf(buf+i, setName);
+
+ return buf;
+}
+
+unsigned char* RVSender::newAnnotation(const string *txt, const float *p, const float* color,
+ const string* setName, int* bufSize) {
+
+ *bufSize = 25 + ((setName != NULL) ? setName->length() : 0)
+ + ((txt != NULL) ? txt->length(): 0);
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 2);
+ i += writeCharToBuf(buf+i, 0);
+ i += writeFloatToBuf(buf+i, p[0]);
+ i += writeFloatToBuf(buf+i, p[1]);
+ i += writeFloatToBuf(buf+i, p[2]);
+ i += writeColorToBuf(buf+i, color, 3);
+ i += writeStringToBuf(buf+i, txt);
+ i += writeStringToBuf(buf+i, setName);
+
+ return buf;
+}
+
+unsigned char* RVSender::newAgentAnnotation(const string *txt, const char teamAgent, const float* color, int* bufSize) {
+
+ *bufSize = 7 + ((txt != NULL) ? txt->length(): 0);
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 2);
+ i += writeCharToBuf(buf+i, 1);
+ i += writeCharToBuf(buf+i, teamAgent);
+ i += writeColorToBuf(buf+i, color, 3);
+ i += writeStringToBuf(buf+i, txt);
+
+ return buf;
+}
+
+unsigned char* RVSender::newRemoveAgentAnnotation(const char teamAgent, int* bufSize) {
+
+ *bufSize = 3;
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 2);
+ i += writeCharToBuf(buf+i, 2);
+ i += writeCharToBuf(buf+i, teamAgent);
+
+ return buf;
+}
+
+unsigned char* RVSender::newSelectAgent(const char teamAgent, int* bufSize) {
+
+ *bufSize = 3;
+ unsigned char* buf = new unsigned char[*bufSize];
+
+ long i = 0;
+ i += writeCharToBuf(buf+i, 3);
+ i += writeCharToBuf(buf+i, 0);
+ i += writeCharToBuf(buf+i, teamAgent);
+
+ return buf;
+}
+
+/*
+int main()
+ {
+ RVSender send = RVSender();
+ string str = string("thing");
+ send.drawPoint(1, 1, 1, 4, 1, 0, 0, &str);
+ send.swapBuffers(&str);
+ }
+//*/
+
Added: trunk/rcssserver3d/plugin/soccer/rvdraw/rvdraw.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rvdraw/rvdraw.h (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/rvdraw/rvdraw.h 2016-05-29 05:27:56 UTC (rev 405)
@@ -0,0 +1,301 @@
+#ifndef RVDRAW_H
+#define RVDRAW_H
+
+/*
+ * Copyright (C) 2011 Justin Stoecker
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+
+#include <cstdio>
+#include <cstring>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <errno.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <netdb.h>
+#include <string>
+#include <math.h>
+#include <map>
+#include <boost/lexical_cast.hpp>
+#include <sstream>
+#include <iomanip>
+
+#define ROBOVIS_PORT "32769"
+
+//class RVSender;
+
+//RVSender* pRVSender;
+
+using namespace std;
+
+//extern string mRVDrawHost;
+
+inline int writeCharToBuf(unsigned char* buf, unsigned char value) {
+ *buf = value;
+ return 1;
+}
+
+inline int writeFloatToBuf(unsigned char* buf, float value) {
+ char temp[20];
+ sprintf(temp, "%6f", value);
+ memcpy(buf, temp, 6);
+ return 6;
+}
+
+inline int writeColorToBuf(unsigned char* buf, const float* color, int channels) {
+ int i;
+ for (i = 0; i < channels; i++)
+ writeCharToBuf(buf+i, (unsigned char)(color[i]*255));
+ return i;
+}
+
+inline int writeStringToBuf(unsigned char* buf, const string* text) {
+ long i = 0;
+ if (text != NULL)
+ i += text->copy((char*)buf+i, text->length(), 0);
+ i += writeCharToBuf(buf+i, 0);
+ return i;
+}
+
+//for the drawings map
+struct DrawObject {
+ string id;
+ string buf;
+};
+
+class RVSender
+{
+private:
+ static long uniqueIdNum;
+ map<string, string> drawings;
+ char getTeamAgent(int uNum, int side); //for AgentAnnotation commands
+ void getColor(int uNum, float &r, float &g, float &b, bool shade=false);
+ string getMyId();
+ string getDrawingId(const string* name);
+ string getUniqueId(long unique);
+ string getUniqueId();
+ void flipPolygon(float *v, const int numVerts); //for agents on SIDE_RIGHT
+ void updateDrawings(string id, string buf);
+
+ int sockfd;
+ struct addrinfo p;
+ bool socketCreated;
+
+ unsigned char* newBufferSwap(const string* name, int* bufSize);
+ unsigned char* newCircle(const float* center,
+ float radius, float thickness,
+ const float* color,
+ const string* setName,
+ int *bufSize);
+ unsigned char* newLine(const float* a,
+ const float* b,
+ float thickness,
+ const float* color,
+ const string* setName,
+ int* bufSize);
+ unsigned char* newPoint(const float* p,
+ float size,
+ const float* color,
+ const string* setName,
+ int* bufSize);
+ unsigned char* newSphere(const float* p,
+ float radius,
+ const float* color,
+ const string* setName,
+ int* bufSize);
+ unsigned char* newPolygon(const float* v,
+ int numVerts,
+ const float* color,
+ const string* setName,
+ int* bufSize);
+ unsigned char* newAnnotation(const string *txt,
+ const float *p,
+ const float* color,
+ const string* setName,
+ int* bufSize);
+ unsigned char* newAgentAnnotation(const string *txt,
+ const char teamAgent,
+ const float* color,
+ int* bufSize);
+ unsigned char* newRemoveAgentAnnotation(const char teamAgent,
+ int* bufSize);
+ unsigned char* newSelectAgent(const char teamAgent,
+ int* bufSize);
+
+public:
+ RVSender();
+ RVSender(int sockfd_, struct addrinfo p);
+ ~RVSender();
+
+ inline int getSockFD() {
+ return sockfd;
+ }
+ inline struct addrinfo getP() {
+ return p;
+ }
+
+ //this must match the switch in getColor. See rvdraw.cc before changing
+ enum Color {
+ RED = 1, ORANGE = 2, YELLOW = 3, GREEN = 4,
+ BLUEGREEN = 5, LIGHTBLUE = 6, BLUE = 7, DARKBLUE = 8,
+ VIOLET = 9, PINK = 10, MAGENTA = 11
+ };
+
+
+ /*
+ * These draw commands support animation.
+ *
+ * Every time a draw command is called, a map is updated with
+ * key = string name (the first argument to each of these commands), and
+ * value = the draw command's buffer (no need to understand that part).
+ *
+ * Call refresh() to write these buffers to the screen.
+ *
+ * Call clear() to erase what's in the buffers. That allows old shapes to be removed from the
+ * screen and prevents clutter. It allows you to know what your agents are thinking right now.
+ *
+ * It's important to give shapes unique a unique 'string name' argument.
+ * A shape created with some 'string name' argument will overwrite an older shape with the
+ * same 'string name' argument. That's how the animation works.
+ *
+ * You can use the RVSender::Color enum to specify colors, or specify your own r,g,b values.
+ */
+
+ /* draws all elements of drawings map to the screen */
+ void refresh();
+
+ /* erases all elements of drawings map */
+ void clear();
+
+ void drawCircle(string name, double x, double y, double radius,
+ RVSender::Color c, bool shade=false);
+ void drawCircle(string name, double x, double y, double radius, float r, float g, float b);
+
+ void drawLine(string name, double x1, double y1, double x2, double y2,
+ RVSender::Color c, bool shade=false);
+ void drawLine(string name, double x1, double y1, double x2, double y2, float r, float g, float b);
+
+ void drawText(string name, string text, double x, double y,
+ RVSender::Color c, bool shade=false);
+ void drawText(string name, string text, double x, double y, float r, float g, float b);
+
+ void drawPoint(string name, double x, double y, double radius,
+ RVSender::Color c, bool shade=false);
+ void drawPoint(string name, double x, double y, double radius, float r, float g, float b);
+
+ void drawSphere(string name, double x, double y, double z, double radius,
+ RVSender::Color c, bool shade=false);
+ void drawSphere(string name, double x, double y, double z, double radius,
+ float r, float g, float b);
+
+ /* format your *v array as {x1, y1, z1, x2, y2, z2, ...} */
+ /* the 'a' arguments are for alpha channel (transparency) */
+ void drawPolygon(string name, float *v, int numVerts, RVSender::Color c,
+ bool shade=false, float a=1.0f);
+ void drawPolygon(string name, float *v, int numVerts, float r, float g, float b, float a=1.0f);
+
+ /*
+ * These draw commands are for static shapes that remain on the screen indefinitely,
+ * or until you call clearStaticDrawings() to remove all of them. Use that method on
+ * a timer to keep only a recent history of drawings on screen.
+ */
+
+ /* use this to erase all static shapes. */
+ void clearStaticDrawings();
+
+ void drawCircle(double x, double y, double radius,
+ RVSender::Color c, bool shade=false);
+ void drawCircle(double x, double y, double radius, float r, float g, float b);
+
+ void drawLine(double x1, double y1, double x2, double y2,
+ RVSender::Color c, bool shade=false);
+ void drawLine(double x1, double y1, double x2, double y2, float r, float g, float b);
+
+ //these two are causing strange errors in roboviz
+ /*void drawText(string text, double x, double y,
+ RVSender::Color c, bool shade=false);
+ void drawText(string text, double x, double y, float r, float g, float b);*/
+
+ void drawPoint(double x, double y, double radius,
+ RVSender::Color c, bool shade=false);
+ void drawPoint(double x, double y, double radius, float r, float g, float b);
+
+ void drawSphere(double x, double y, double z, double radius,
+ RVSender::Color c, bool shade=false);
+ void drawSphere(double x, double y, double z, double radius,
+ float r, float g, float b);
+
+ void drawPolygon(float *v, int numVerts, RVSender::Color c, bool shade=false, float a=1.0f);
+ void drawPolygon(float *v, int numVerts, float r, float g, float b, float a=1.0f);
+
+ /*
+ * These agentText commands work differently. No animation involved, you don't need
+ * the refresh() and clear() commands for these to work. No unique 'string name' either.
+ */
+
+ void drawText(string text, double x, double y,
+ RVSender::Color c, bool shade=false);
+ void drawText(string text, double x, double y, float r, float g, float b);
+
+ /* draw to player on team "side", with uniform "uNum" */
+ void drawAgentText(string text, int uNum, int side, RVSender::Color c, bool shade=false);
+ void drawAgentText(string text, int uNum, int side, float r, float g, float b);
+
+ /* removes text from a player */
+ void removeAgentText(int u, int s);
+
+ void selectAgent(int u, int s);
+
+
+ /* old draw commands, don't support the animation */
+ void swapBuffers(const string* setName);
+ void drawLine(float x1, float y1, float z1,
+ float x2, float y2, float z2,
+ float thickness,
+ float r, float g, float b,
+ const string* setName);
+ void drawCircle(float x, float y, float radius,
+ float thickness,
+ float r, float g, float b,
+ const string* setName);
+ void drawSphere(float x, float y, float z,
+ float radius,
+ float r, float g, float b,
+ const string* setName);
+ void drawPoint(float x, float y, float z,
+ float size,
+ float r, float g, float b,
+ const string *setName);
+ void drawPolygon(const float *v, int numVerts,
+ float r, float g, float b,
+ float a,
+ const string *setName);
+ void drawAnnotation(const string *txt,
+ float x, float y, float z,
+ float r, float g, float b,
+ const string *setName);
+ void drawAgentAnnotation(const string *txt,
+ char teamAgent,
+ float r, float g, float b);
+ void removeAgentAnnotation(char teamAgent);
+ void selectAgent(char teamAgent);
+};
+
+#endif // !RVDRAW_H
Modified: trunk/rcssserver3d/plugin/soccer/sayeffector/sayeffector.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/sayeffector/sayeffector.cpp 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/sayeffector/sayeffector.cpp 2016-05-29 05:27:56 UTC (rev 405)
@@ -25,6 +25,7 @@
#include <agentstate/agentstate.h>
#include <soccerbase/soccerbase.h>
#include <soccerruleaspect/soccerruleaspect.h>
+#include <boost/regex.hpp>
using namespace boost;
using namespace oxygen;
@@ -76,12 +77,24 @@
sayAction->GetMessage(mMessage);
ifText=true;
- // If " ", "(" or ")" are in mMessage, return false
- if (mMessage.find_first_of("() ") != std::string::npos)
+ // If characters outside allowed value range or " ", "(" or ")" are in mMessage, return false
+ boost::regex allowedCharacterRange("[\x20-\x7E]*");
+ if (!boost::regex_match(mMessage, allowedCharacterRange)
+ || mMessage.find_first_of("() ") != std::string::npos)
{
- GetLog()->Debug()
+ std::string teamName = mAgentState->GetTeamIndex() == TI_RIGHT ? "Right" : "Left";
+
+ // get the GameStateAspect
+ boost::shared_ptr<GameStateAspect> mGameState = dynamic_pointer_cast<GameStateAspect>
+ (SoccerBase::GetControlAspect(*this, "GameStateAspect"));
+ if (mGameState.get() != 0)
+ {
+ teamName = mGameState->GetTeamName(mAgentState->GetTeamIndex());
+ }
+ GetLog()->Error()
<< "(SayEffector) found illegal character. Ignoring message ["
- << mMessage << "]\n";
+ << mMessage << "] from " << teamName << " "
+ << mAgentState->GetUniformNumber() << "\n";
ifText=false;
Modified: trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp 2016-05-29 05:27:56 UTC (rev 405)
@@ -608,6 +608,12 @@
case PM_FREE_KICK_RIGHT:
return STR_PM_FREE_KICK_RIGHT;
+ case PM_DIRECT_FREE_KICK_LEFT:
+ return STR_PM_DIRECT_FREE_KICK_LEFT;
+
+ case PM_DIRECT_FREE_KICK_RIGHT:
+ return STR_PM_DIRECT_FREE_KICK_RIGHT;
+
default:
return STR_PM_Unknown;
};
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2015-09-12 01:48:59 UTC (rev 404)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2016-05-29 05:27:56 UTC (rev 405)
@@ -32,6 +32,10 @@
#include <agentstate/agentstate.h>
#include <algorithm>
+#ifdef RVDRAW
+#include <rvdraw/rvdraw.h>
+#endif // RVDRAW
+
using namespace oxygen;
using namespace boost;
using namespace std;
@@ -40,11 +44,15 @@
SoccerRuleAspect::SoccerRuleAspect() :
SoccerControlAspect(),
mBallRadius(0.111),
+ mAgentRadius(0.4),
mGoalPauseTime(3),
mKickInPauseTime(1),
mHalfTime(2.25 * 60),
+ mDropBallTime(15),
mFreeKickDist(9.15),
mFreeKickMoveDist(15.15),
+ mRepelPlayersForKick(false),
+ mKickRepelDist(0.5),
mGoalKickDist(1.0),
mAutomaticKickOff(false),
mWaitBeforeKickOff(1.0),
@@ -54,32 +62,69 @@
mAutoKickOffTimeOrigin(1000000.0),
mSayMsgSize(20),
mAudioCutDist(50.0),
- mFirstCollidingAgent(true),
- mNotOffside(false),
- mLastModeWasPlayOn(false),
- mUseOffside(true),
- mUseCharging(false),
- mChargingMinSpeed(0.2),
- mChargingMinBallDist(0.2),
- mChargingMaxOppSpeedAngle(90),
- mChargingIllInterceptMinMutualSpeedAngel(70),
- mDropBallTime(15),
mNotStandingMaxTime(1000), // max time player may be sitted or laying down before being repositioned
+ mGroundMaxTime(1000), // max time player may be on the ground before being repositioned
mGoalieNotStandingMaxTime(1000), // max time goalie may be sitted or laying down before being repositioned
- mGroundMaxTime(1000), // max time player may be on the ground before being repositioned
mGoalieGroundMaxTime(1000), // max time goalie (pl number 1) may be on the ground before being repositioned
- mMaxPlayersInsideOwnArea(1000), // maximum number of players of the defending team that may be inside own penalty area
mMinOppDistance(0), // min dist for closest Opponent to ball in order to use repositions for 2nd, 3rd player
mMin2PlDistance(0), // min dist for second closest of team before being repositioned
mMin3PlDistance(0), // min dist for third closest of team before being repositioned
+ mMaxPlayersInsideOwnArea(1000), // maximum number of players of the defending team that may be inside own penalty area
mMaxTouchGroupSize(1000),
mMaxFoulTime(0.0), // maximum time allowed for a player to commit a positional foul before being repositioned
- mLastKickOffKickTime(0),
- mCheckKickOffKickerFoul(false),
+ mFirstCollidingAgent(true),
+ mNotOffside(false),
+ mLastModeWasPlayOn(false),
+ mUseOffside(true),
+ mUseCharging(false),
+ mChargingMinSpeed(0.2),
+ mChargingMinBallSpeedAngle(15),
+ mChargingMinDeltaDist(0.2),
+ mChargingMinDeltaAng(30),
+ mChargingImmunityTime(1),
+ mChargingCollisionMinTime(0.2),
+ mChargingMaxBallRulesDist(100),
+ mChargingMinCollBallDist(0.1),
+ mMinCollisionSpeed(0.15),
+ mFoulHoldTime(0.5),
+ mLastFreeKickKickTime(0),
+ mCheckFreeKickKickerFoul(false),
mAllowKickOffTeamToScore(true),
- mPenaltyShootout(false)
+ mIndirectKick(false),
+ mPenaltyShootout(false),
+ mKeepaway(false),
+ mKeepawayCenterX(0.0),
+ mKeepawayCenterY(0.0),
+ mKeepawayLength(20.0),
+ mKeepawayWidth(20.0),
+ mKeepawayLengthReductionRate(4.0),
+ mKeepawayWidthReductionRate(4.0)
{
mFreeKickPos = Vector3f(0.0,0.0,mBallRadius);
+ ResetFoulCounter(TI_LEFT);
+ ResetFoulCounter(TI_RIGHT);
+
+#ifdef RVDRAW
+ // Create connection for sending draw commands to roboviz
+ mRVSender = boost::shared_ptr<RVSender>(new RVSender());
+ if (mRVSender->getSockFD() == -1)
+ {
+ mRVSender.reset();
+ }
+#endif // RVDRAW
+
+ // Initialize values
+ for (int i = 0; i <= 11; i++)
+ {
+ for (int t = 0; t <= 2; t++)
+ {
+ playerTimeSinceLastWasMoved[i][t] = 1/.02;
+ for(int j = 0; j < AVERAGE_VELOCITY_MEASUREMENTS; j++)
+ {
+ playerVelocities[i][t][j] = salt::Vector3f(0,0,0);
+ }
+ }
+ }
}
SoccerRuleAspect::~SoccerRuleAspect()
@@ -101,27 +146,71 @@
/* Uses only Ball and Players positions and detects overcrowind near ball and areas and
players inappropriate behavior (laying on the ground or not walking for too much time) */
void
-SoccerRuleAspect::AutomaticSimpleReferee(TPlayMode playMode)
+SoccerRuleAspect::AutomaticSimpleReferee()
{
+ if (mKeepaway)
+ {
+ TTime game_time = mGameState->GetTime();
+
+ float areaMinX = mKeepawayCenterX - mKeepawayLength/2.0 + (mKeepawayLengthReductionRate/2.0*game_time/60.0);
+ float areaMaxX = mKeepawayCenterX + mKeepawayLength/2.0 - (mKeepawayLengthReductionRate/2.0*game_time/60.0);
+ float areaMinY = mKeepawayCenterY - mKeepawayWidth/2.0 + (mKeepawayWidthReductionRate/2.0*game_time/60.0);
+ float areaMaxY = mKeepawayCenterY + mKeepawayWidth/2.0 - (mKeepawayWidthReductionRate/2.0*game_time/60.0);
+
+#ifdef RVDRAW
+ if (mRVSender)
+ {
+ mRVSender->clear();
+ mRVSender->drawLine("KeepawayArea", areaMinX, areaMinY, areaMinX, areaMaxY, RVSender::RED);
+ mRVSender->drawLine("KeepawayArea", areaMinX, areaMaxY, areaMaxX, areaMaxY, RVSender::RED);
+ mRVSender->drawLine("KeepawayArea", areaMaxX, areaMaxY, areaMaxX, areaMinY, RVSender::RED);
+ mRVSender->drawLine("KeepawayArea", areaMaxX, areaMinY, areaMinX, areaMinY, RVSender::RED);
+ mRVSender->refresh();
+ }
+#endif // RVDRAW
+
+ if (game_time > 0)
+ {
+ bool fBallOutsideKeepawayBox = false;
+ Vector3f ball_pos = mBallBody->GetPosition();
+ if (ball_pos.x() < areaMinX
+ || ball_pos.x() > areaMaxX
+ || ball_pos.y() < areaMinY
+ || ball_pos.y() > areaMaxY)
+ {
+ fBallOutsideKeepawayBox = true;
+ }
+
+ bool fBallCollidedWithTaker = mBallState->GetBallCollidingWithAgentTeam(TI_RIGHT);
+
+ if (fBallOutsideKeepawayBox || fBallCollidedWithTaker)
+ {
+ mGameState->SetPlayMode(PM_GameOver);
+ }
+ }
+ }
+
+ if (mPenaltyShootout && mGameState->GetPlayMode() == PM_Goal_Left) {
+ // Cancel penalty shootout mode now that a goal has been scored
+ mPenaltyShootout = false;
+ }
+
// Reset counters and do not consider players' fouls when game is not
- // running
+ // running (when players can beam)
if (mGameState->IsPaused())
{
ResetFoulCounter(TI_LEFT);
ResetFoulCounter(TI_RIGHT);
-
- if (mPenaltyShootout && mGameState->GetPlayMode() == PM_Goal_Left) {
- // Cancel penalty shootout mode now that a goal has been scored
- mPenaltyShootout = false;
- }
}
else
{
CalculateDistanceArrays(TI_LEFT); // Calculates distance arrays for left team
CalculateDistanceArrays(TI_RIGHT); // Calculates distance arrays for right team
+ UpdateTimesSinceLastBallTouch(); // Resets time since last ball touch for agents currently colliding with ball
+ AnalyseChargingFouls(); // Analyzes if there are any charging fouls
AnalyseFouls(TI_LEFT); // Analyzes simple fouls for the left team
AnalyseFouls(TI_RIGHT); // Analyzes simple fouls for the right team
- AnalyseTouchGroups(TI_LEFT); // Analyzes how many players are touching for the left team
+ AnalyseTouchGroups(TI_LEFT); // Analyzes whether too many players are touching for the left team
AnalyseTouchGroups(TI_RIGHT); // Analyzes whether too many players are touching for the right team
ClearPlayersAutomatic(TI_LEFT); // enforce standing and not overcrowding rules for left team
@@ -165,6 +254,9 @@
prevPlayerInsideOwnArea[unum][idx] = 0;
playerInsideOwnArea[unum][idx] = 0;
playerFoulTime[unum][idx] = 0;
+ playerTimeSinceLastBallTouch[unum][idx] = mChargingImmunityTime/0.02;
+ playerChargingTime[unum][idx] = mChargingCollisionMinTime/0.02;
+ playerLastFoul[unum][idx] = FT_None;
}
void
@@ -176,6 +268,36 @@
}
}
+// Resets time since last ball touch for agents currently colliding with ball
+void
+SoccerRuleAspect::UpdateTimesSinceLastBallTouch()
+{
+ if (mBallState.get() == 0)
+ return;
+
+ list<boost::shared_ptr<AgentAspect> > agents;
+ if (mBallState->GetCollidingAgents(agents))
+ {
+ for (list<boost::shared_ptr<AgentAspect> > ::const_iterator agentIt = agents.begin();
+ agentIt != agents.end();
+ agentIt++)
+ {
+ boost::shared_ptr<AgentState> agentState;
+ if (!SoccerBase::GetAgentState(*agentIt, agentState))
+ {
+ GetLog()->Error() << "ERROR: (SoccerRuleAspect) Cannot get "
+ "AgentState from an AgentAspect\n";
+ }
+ else
+ {
+ int unum = agentState->GetUniformNumber();
+ int idx = agentState->GetTeamIndex();
+ playerTimeSinceLastBallTouch[unum][idx] = 0;
+ }
+ }
+ }
+}
+
// Process agent state: standing, sitted, laying down, ...
void
SoccerRuleAspect::ProcessAgentState(salt::Vector3f pos, int unum, TTeamIndex idx)
@@ -207,18 +329,32 @@
if (playerStanding[unum][idx] > 0.5 / 0.02) {
playerNotStanding[unum][idx] = 0;
}
+
+ playerTimeSinceLastBallTouch[unum][idx]++;
+ playerChargingTime[unum][idx]++;
+ playerTimeSinceLastWasMoved[unum][idx]++;
}
// Calculates ordering on a distance vector
void SoccerRuleAspect::SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx)
{
- for(int t1 = 1; t1 <= 10; t1++)
- for(int t2 = t1 + 1; t2 <= 11; t2++)
+ for(int t1 = 1; t1 <= 11; t1++) {
+ if (HaveEnforceableFoul(t1,idx)) {
+ // Don't count players who have committed a foul
+ oArr[t1][idx] = -1;
+ continue;
+ }
+ for(int t2 = t1 + 1; t2 <= 11; t2++) {
+ if (HaveEnforceableFoul(t2,idx)) {
+ // Don't count players who have committed a foul
+ continue;
+ }
if (dArr[t1][idx] >= dArr[t2][idx])
oArr[t1][idx]++;
else
oArr[t2][idx]++;
-
+ }
+ }
// DEBUG
// if (dArr[1][idx]<1000.0) {
// cout << "Team: " << idx << " --> ";
@@ -279,8 +415,9 @@
prevPlayerInsideOwnArea[unum][idx] = playerInsideOwnArea[unum][idx];
// determine number of players inside area and set inside area state of player
- if (idx == TI_LEFT && mLeftPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y())) ||
- idx == TI_RIGHT && mRightPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y())))
+ if (((idx == TI_LEFT && mLeftPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y()))) ||
+ (idx == TI_RIGHT && mRightPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y()))))
+ && !HaveEnforceableFoul(unum,idx))
{
numPlInsideOwnArea[idx]++;
playerInsideOwnArea[unum][idx] = 1;
@@ -304,243 +441,346 @@
SimpleOrder(distGArr, ordGArr, idx);
}
-void SoccerRuleAspect::AnalyseTouchGroups(TTeamIndex idx)
+void SoccerRuleAspect::AnalyseChargingFouls()
{
- if (idx == TI_NONE || mBallState.get() == 0)
+ if (!mUseCharging)
+ {
return;
+ }
+
+ if (mBallState.get() == 0)
+ return;
SoccerBase::TAgentStateList agent_states;
- if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_LEFT))
return;
- random_shuffle(agent_states.begin(), agent_states.end());
-
- // BEGIN FOUL DETECTION
- if (mUseCharging)
+ SoccerBase::TAgentStateList::iterator asIt = agent_states.begin();
+ for (; asIt != agent_states.end(); ++asIt)
{
-
- SoccerBase::TAgentStateList::iterator asIt = agent_states.begin();
- for (; asIt != agent_states.end(); ++asIt)
+ boost::shared_ptr<TouchGroup> touchGroup = (*asIt)->GetTouchGroup();
+ if (touchGroup->size() != 2)
{
- boost::shared_ptr<TouchGroup> touchGroup = (*asIt)->GetTouchGroup();
+ continue;
+ }
+
+ salt::Vector3f agentAvgVel[2];
+ salt::Vector3f agentPos[2];
+ float s[2]; //agentSpeed
+ float d[2]; //agentDistToBall
+ float aVB[2]; //agentAngleOfSpeedVectorToBall
+ float aVO[2]; //agentAngleOfSpeedVectorToOpponent
+ int agentUNum[2];
+ TTeamIndex agentTeamIndex[2];
+ bool isCharging[2]; // Boolean if an agent had co...
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