[simspark-cvs] simspark/contrib/agentspark soccerbotbehavior.cpp, NONE, 1.1.2.1 soccerbotbehavior.h, NONE, 1.1.2.1 agentspark.vcproj, 1.1.2.1, 1.1.2.2

[Markus R. <rol...@us...>]

Update of /cvsroot/simspark/simspark/contrib/agentspark
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv11888

Modified Files:
      Tag: WIN32
	agentspark.vcproj 
Added Files:
      Tag: WIN32
	soccerbotbehavior.cpp soccerbotbehavior.h 
Log Message:
- add default soccerbot behavior from rcssserver3d cvs

Index: agentspark.vcproj
===================================================================
RCS file: /cvsroot/simspark/simspark/contrib/agentspark/Attic/agentspark.vcproj,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** agentspark.vcproj	23 Feb 2007 19:58:20 -0000	1.1.2.1
--- agentspark.vcproj	25 Feb 2007 15:53:50 -0000	1.1.2.2
***************
*** 191,194 ****
--- 191,202 ----
  			>
  		</File>
+ 		<File
+ 			RelativePath=".\soccerbotbehavior.cpp"
+ 			>
+ 		</File>
+ 		<File
+ 			RelativePath=".\soccerbotbehavior.h"
+ 			>
+ 		</File>
  	</Files>
  	<Globals>

--- NEW FILE: soccerbotbehavior.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
   this file is part of rcssserver3D
   Thu Mar 27 2006
   Copyright (C) 2006 RoboCup Simulation League Maintenance Committee

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef SOCCERBOTBEHAVIOR_H
#define SOCCERBOTBEHAVIOR_H

#include "behavior.h"
#include <oxygen/gamecontrolserver/baseparser.h>
#include <oxygen/gamecontrolserver/predicate.h>
#include <zeitgeist/zeitgeist.h>

class SoccerbotBehavior : public Behavior
{
public:
    struct HingeJointSense
    {
        /** joint angle */
        float angle;

        /** joint angle rate */
        float rate;

        HingeJointSense() : angle(0), rate(0) {};
    };

    struct UniversalJointSense
    {
        /** joint angle axis 1*/
        float angle1;

        /** joint angle axis 2*/
        float angle2;

        /** joint angle rate axis 1*/
        float rate1;

        /** joint angle rate axis 2*/
        float rate2;

        UniversalJointSense() : angle1(0), angle2(0), rate1(0), rate2(0) {};
    };

    enum JointID
    {
        JID_HEAD_1   = 0,
        JID_HEAD_2   = 1,
        JID_LLEG_1   = 2,
        JID_RLEG_1   = 3,
        JID_LLEG_2_3 = 4,
        JID_RLEG_2_3 = 5,
        JID_LLEG_4   = 6,
        JID_RLEG_4   = 7,
        JID_LLEG_5_6 = 8,
        JID_RLEG_5_6 = 9,
        JID_LARM_1_2 = 10,
        JID_RARM_1_2 = 11,
        JID_LARM_3   = 12,
        JID_RARM_3   = 13,
        JID_LARM_4   = 14,
        JID_RARM_4   = 15,
        JID_LARM_5   = 16,
        JID_RARM_5   = 17
    };

    enum BehaviorState
    {
        ARM_UP = 0,
        ARM_ROTATE = 1,
        ARM_WAVE_1 = 2,
        ARM_WAVE_2 = 3
    };

public:
    SoccerbotBehavior();

    virtual std::string Init();
    virtual std::string Think(const std::string& message);

protected:
    void SetupJointIDMap();
    void ParseHingeJointInfo(const oxygen::Predicate& predicate);
    void ParseUniversalJointInfo(const oxygen::Predicate& predicate);

protected:
    zeitgeist::Zeitgeist mZG;
    boost::shared_ptr<oxygen::BaseParser> mParser;

    // mapping from joint id to joint hinge sense object
    typedef std::map<JointID, HingeJointSense> THingeJointSenseMap;
    THingeJointSenseMap mHingeJointSenseMap;

    // mapping from joint id to joint hinge sense object
    typedef std::map<JointID, UniversalJointSense> TUniversalJointSenseMap;
    TUniversalJointSenseMap mUniversalJointSenseMap;

    // mapping from object name to joint id
    typedef std::map<std::string, JointID> TJointIDMap;
    TJointIDMap mJointIDMap;
};

#endif // SOCCERBOTBEHAVIOR_H

--- NEW FILE: soccerbotbehavior.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
   this file is part of rcssserver3D
   Thu Nov 8 2005
   Copyright (C) 2005 Koblenz University

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "soccerbotbehavior.h"
#include <iostream>
#include <sstream>
#include <cmath>

using namespace oxygen;
using namespace zeitgeist;
using namespace std;
using namespace boost;
using namespace salt;

SoccerbotBehavior::SoccerbotBehavior() : mZG("." PACKAGE_NAME)
{
}

void SoccerbotBehavior::SetupJointIDMap()
{
    mJointIDMap.clear();
    mJointIDMap["head_joint_2"]   = JID_HEAD_2;
    mJointIDMap["head_joint_1"]   = JID_HEAD_1;
    mJointIDMap["lleg_joint_1"]   = JID_LLEG_1;
    mJointIDMap["rleg_joint_1"]   = JID_RLEG_1;
    mJointIDMap["lleg_joint_2_3"] = JID_LLEG_2_3;
    mJointIDMap["rleg_joint_2_3"] = JID_RLEG_2_3;
    mJointIDMap["lleg_joint_4"]   = JID_LLEG_4;
    mJointIDMap["rleg_joint_4"]   = JID_RLEG_4;
    mJointIDMap["lleg_joint_5_6"] = JID_LLEG_5_6;
    mJointIDMap["rleg_joint_5_6"] = JID_RLEG_5_6;
    mJointIDMap["larm_joint_1_2"] = JID_LARM_1_2;
    mJointIDMap["rarm_joint_1_2"] = JID_RARM_1_2;
    mJointIDMap["larm_joint_3"]   = JID_LARM_3;
    mJointIDMap["rarm_joint_3"]   = JID_RARM_3;
    mJointIDMap["larm_joint_4"]   = JID_LARM_4;
    mJointIDMap["rarm_joint_4"]   = JID_RARM_4;
    mJointIDMap["larm_joint_5"]   = JID_LARM_5;
    mJointIDMap["rarm_joint_5"]   = JID_RARM_5;
}

string SoccerbotBehavior::Init()
{
    mZG.GetCore()->ImportBundle("sexpparser");

    mParser = shared_static_cast<BaseParser>
        (mZG.GetCore()->New("SexpParser"));

    if (mParser.get() == 0)
    {
        cerr << "unable to create SexpParser instance." << endl;
    }

    SetupJointIDMap();
    // use the scene effector to build the agent and beam to a
    // position near the center of the playing field
    return
        "(scene rsg/agent/soccerbot.rsg)";
}

void SoccerbotBehavior::ParseHingeJointInfo(const oxygen::Predicate& predicate)
{
    //cout << "(SoccerbotBehavior) parsing HJ info" << endl;

    // read the object name
    string name;
    Predicate::Iterator iter(predicate);

    if (! predicate.GetValue(iter, "name", name))
    {
        return;
    }

    // try to lookup the joint id
    TJointIDMap::iterator idIter = mJointIDMap.find(name);
    if (idIter == mJointIDMap.end())
    {
        cerr << "(SoccerbotBehavior) unknown joint id!" << endl;
        return;
    }

    JointID jid = (*idIter).second;

    // read the angle value
    HingeJointSense sense;
    if (! predicate.GetValue(iter,"axis", sense.angle))
    {
        return;
    }

    // update the map
    mHingeJointSenseMap[jid] = sense;
}

void SoccerbotBehavior::ParseUniversalJointInfo(const oxygen::Predicate& predicate)
{
    // read the object name
    string name;
    Predicate::Iterator iter(predicate);

    if (! predicate.GetValue(iter, "name", name))
    {
        return;
    }

    // try to lookup the joint id
    TJointIDMap::iterator idIter = mJointIDMap.find(name);
    if (idIter == mJointIDMap.end())
    {
        cerr << "(SoccerbotBehavior) unknown joint id!" << endl;
        return;
    }

    JointID jid = (*idIter).second;

    // record the angle and rate values
    UniversalJointSense sense;

    // try to read axis1 angle
    if (! predicate.GetValue(iter,"ax1", sense.angle1))
    {
        cerr << "(SoccerbotBehavior) could not parse universal joint angle1!" << endl;
        return;
    }
    // try to read axis1 rate
    if (! predicate.GetValue(iter,"rt1", sense.rate1))
    {
        cerr << "(SoccerbotBehavior) could not parse universal joint rate1!" << endl;
        return;
    }   
    // try to read axis2 angle
    if (! predicate.GetValue(iter,"ax2", sense.angle2))
    {
        cerr << "(SoccerbotBehavior) could not parse universal joint angle2!" << endl;
        return;
    }   
    // try to read axis2 rate
    if (! predicate.GetValue(iter,"rt2", sense.rate2))
    {
        cerr << "(SoccerbotBehavior) could not parse universal joint rate2!" << endl;
        return;
    }

    //cout << "(ParseUniversalJointInfo) got angles " << sense.angle1 
    //     << " and " << sense.angle2 << endl;

    // update the map
    mUniversalJointSenseMap[jid] = sense;
}



string SoccerbotBehavior::Think(const std::string& message)
{
    //sleep(1);

    static const float gain = 0.1f;
    static BehaviorState state = ARM_UP;

    // parse message and extract joint angles
    //cout << "(SoccerbotBehavior) received message " << message << endl;

    shared_ptr<PredicateList> predList =
        mParser->Parse(message);

    if (predList.get() != 0)
    {
        PredicateList& list = *predList;

        for (
             PredicateList::TList::const_iterator iter = list.begin();
             iter != list.end();
             ++iter
             )
        {
            const Predicate& predicate = (*iter);

            // check for a joint percept
            switch(predicate.name[0])
            { 
            case 'H': // hinge joint (HJ)
                ParseHingeJointInfo(predicate);
                break;
            case 'U': // universal joint (UJ)
                ParseUniversalJointInfo(predicate);
                break;
            default:
                break;
            }
        }
    }

    float curAngle = 0;
    float newAngle = 0;
 
    // string stream for the server commands
    stringstream ss("");

//    curAngle = mUniversalJointSenseMap[JID_LLEG_5_6].angle1;

//    if (curAngle < 40.0)
//    {
//        newAngle = gain * (40.0 - curAngle);
//        ss << "(lleg_eff_5_6 0.0 " << newAngle << ")";
//    }

#if 0
    switch(state)
    {
        case ARM_UP:
            curAngle = mUniversalJointSenseMap[JID_RARM_1_2].angle2;
            if (curAngle < 90.0)
            {
                newAngle = gain * (90.0 - curAngle);
                ss << "(rarm_eff_1_2 0.0 " << newAngle << ")";
            }
            else
            {
                state = ARM_ROTATE;
            }
            break;
        case ARM_ROTATE:
            curAngle = mHingeJointSenseMap[JID_RARM_3].angle;
            if (curAngle < 90.0)
            {
                newAngle = gain * (90.0 - curAngle);
                ss << "(rarm_eff_3 " << newAngle << ")";
            }
            else    
            {
                state = ARM_WAVE_1;
            }
            break;
        case ARM_WAVE_1:
            curAngle = mHingeJointSenseMap[JID_RARM_4].angle;
            if (curAngle < 90.0)
            {
                newAngle = gain * (90.0 - curAngle);
                ss << "(rarm_eff_4 " << newAngle << ")"; 
            }
            else
            {
                state = ARM_WAVE_2;
            }
            break;
        case ARM_WAVE_2:
            curAngle = mHingeJointSenseMap[JID_RARM_4].angle;
            if (curAngle > 60.0 || curAngle <= 59.5)
            {
                newAngle = gain * (60.0 - curAngle);
                ss << "(rarm_eff_4 " << newAngle << ")";
            }
            else
            {
                state = ARM_WAVE_1;
            }
            break;
        default:   
            break;
    }

#endif

//    cout << "+++" << endl;
//    cout << "current angle: " << curAngle  << endl;
//    cout << "desired angle: " << newAngle  << endl;
//    cout << "(Behavior) sending string " << ss.str() << " to server" << endl;
//    cout << "State is " << state << endl;
//    cout << "---" << endl;

    //return ss.str();
    return string("");
}