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BasicCoach.cpp

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/*
Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

3. Neither the name of the University of Amsterdam nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include"BasicCoach.h"
#include"Parse.h"
#ifdef WIN32
  #include <windows.h>
#else
  #include <sys/poll.h>
#endif

extern Logger Log; 
BasicCoach::BasicCoach( ActHandler* act, WorldModel *wm, ServerSettings *ss,
      char* strTeamName, double dVersion, bool isTrainer )

{
  char str[MAX_MSG];

  ACT       = act;
  WM        = wm;
  SS        = ss;
  bContLoop = true;
  WM->setTeamName( strTeamName );

  if( !isTrainer )
    sprintf( str, "(init %s (version %f))", strTeamName, dVersion );
  else
    sprintf( str, "(init (version %f))", dVersion );

   ACT->sendMessage( str );
}

BasicCoach::~BasicCoach( )
{
}

void BasicCoach::mainLoopNormal( )
{
#ifdef WIN32
  Sleep( 1000 );
#else
  poll( 0, 0, 1000 );
#endif

  bool bSubstituted   = false;
  ACT->sendMessageDirect( "(eye on)" );

#ifdef WIN32
  Sleep( 1000 );
#else
  poll( 0, 0, 1000 );
#endif

  while( WM->getPlayMode() != PM_TIME_OVER  && bContLoop )
  {
    Log.log( 1, "in loop %d %d %f",
             WM->getTimeLastSeeGlobalMessage().getTime(),
             bSubstituted,
             WM->isConfidenceGood( OBJECT_TEAMMATE_11 )) ;
    if(  WM->waitForNewInformation() == false )
    {
      printf( "Shutting down coach\n" );
      bContLoop = false;
    }
    else if( WM->getTimeLastSeeGlobalMessage().getTime() == 0 &&
             bSubstituted == false &&
             WM->isConfidenceGood( OBJECT_TEAMMATE_11 ))
    {
      // read (and write) all player_type information 
      for( int i = 0 ; i < MAX_HETERO_PLAYERS; i ++ )
      {
         m_player_types[i] = WM->getInfoHeteroPlayer( i );
//       cout << i << ": " ;
//       m_player_types[i].show( cout );
      }

      // just substitute some players (define your own methods to
      // determine which player types should be substituted )
      substitutePlayer(  2, 1 );  // substitute player 2 to type 1
      substitutePlayer(  3, 1 );
      substitutePlayer(  4, 1 );
      substitutePlayer(  5, 2 );
      substitutePlayer(  6, 2 );
      substitutePlayer(  7, 2 );
      substitutePlayer(  8, 3 );
      substitutePlayer(  9, 3 );
      substitutePlayer( 10, 3 );
      substitutePlayer( 11, 4 );
      bSubstituted = true;
    }
  
    if( Log.isInLogLevel(  456 ) )
      WM->logObjectInformation( 456, OBJECT_ILLEGAL);
    if( SS->getSynchMode() == true )
      ACT->sendMessageDirect( "(done)" );
  }

  return;
}


void BasicCoach::substitutePlayer( int iPlayer, int iPlayerType )
{
  SoccerCommand soc;
  soc.makeCommand( CMD_CHANGEPLAYER, (double)iPlayer, (double)iPlayerType );
  ACT->sendCommandDirect( soc );
  cerr << "coachmsg: changed player " << iPlayer << " to type " << iPlayerType
       << endl;
}


#ifdef WIN32
DWORD WINAPI stdin_callback( LPVOID v )
#else
void* stdin_callback( void * v )
#endif
{
  Log.log( 1, "Starting to listen for user input" );
  BasicCoach* bc = (BasicCoach*)v;
  bc->handleStdin();
  return NULL;
}

void BasicCoach::handleStdin( )
{
  char buf[MAX_MSG];

  while( bContLoop )
  {
#ifdef WIN32
    cin.getline( buf, MAX_MSG );
#else
    fgets( buf, MAX_MSG, stdin ); // does unblock with signal !!!!!
#endif
    printf( "after fgets: %s\n", buf );
    executeStringCommand( buf );
  }
}

void BasicCoach::showStringCommands( ostream& out )
{
  out << "Basic commands:"                                << endl <<
         " m(ove) player_nr x y"                          << endl <<
         " q(uit)"                                        << endl;
}

bool BasicCoach::executeStringCommand( char *str)
{
  switch( str[0] )
  {
    case 'm':                               // move
      sprintf( str, "(move %d %f %f)", Parse::parseFirstInt( &str ),
                                       Parse::parseFirstDouble( &str ),
                                       Parse::parseFirstDouble( &str ) );
      break;
    case 'q':                             // quit
      bContLoop = false;
      return true;
    default:                             // default: send entered string
      ;
  }
  printf( "send: %s\n", str );
  ACT->sendMessage( str );
  return true;
}

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