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00054 #ifndef _SOCCERTYPES_
00055 #define _SOCCERTYPES_
00056
00057 #include <iostream>
00058 #include "Geometry.h"
00059 #include "ServerSettings.h"
00060
00061
00062
00063
00064
00065
00066 #define MAX_TEAMMATES 11
00067 #define MAX_OPPONENTS 11
00068 #define MAX_HETERO_PLAYERS 7
00069 #define MAX_MSG 4096
00070 #define MAX_SAY_MSG 10
00071 #define MAX_TEAM_NAME_LENGTH 64
00072 #define MAX_FLAGS 55
00073 #define MAX_LINES 4
00074 #define DEFAULT_TEAM_NAME "Team_L"
00075 #define DEFAULT_OPPONENT_NAME "Team_R"
00076 #define PITCH_LENGTH 105.0
00077 #define PITCH_WIDTH 68.0
00078 #define PITCH_MARGIN 5.0
00079 #define PENALTY_AREA_LENGTH 16.5
00080 #define PENALTY_AREA_WIDTH 40.32
00081 #define PENALTY_X (PITCH_LENGTH/2.0-PENALTY_AREA_LENGTH)
00085
00086
00087
00088 const double UnknownDoubleValue = -1000.0;
00089 const AngDeg UnknownAngleValue = -1000.0;
00090 const int UnknownIntValue = -1000;
00091 const int UnknownTime = -20;
00092 const long UnknownMessageNr = -30;
00094
00095
00096
00097
00102 enum ObjectT {
00103 OBJECT_BALL,
00104 OBJECT_GOAL_L,
00105 OBJECT_GOAL_R,
00106 OBJECT_GOAL_UNKNOWN,
00107 OBJECT_LINE_L,
00108 OBJECT_LINE_R,
00109 OBJECT_LINE_B,
00110 OBJECT_LINE_T,
00111 OBJECT_FLAG_L_T,
00112 OBJECT_FLAG_T_L_50,
00113 OBJECT_FLAG_T_L_40,
00114 OBJECT_FLAG_T_L_30,
00115 OBJECT_FLAG_T_L_20,
00116 OBJECT_FLAG_T_L_10,
00117 OBJECT_FLAG_T_0,
00118 OBJECT_FLAG_C_T,
00119 OBJECT_FLAG_T_R_10,
00120 OBJECT_FLAG_T_R_20,
00121 OBJECT_FLAG_T_R_30,
00122 OBJECT_FLAG_T_R_40,
00123 OBJECT_FLAG_T_R_50,
00124 OBJECT_FLAG_R_T,
00125 OBJECT_FLAG_R_T_30,
00126 OBJECT_FLAG_R_T_20,
00127 OBJECT_FLAG_R_T_10,
00128 OBJECT_FLAG_G_R_T,
00129 OBJECT_FLAG_R_0,
00130 OBJECT_FLAG_G_R_B,
00131 OBJECT_FLAG_R_B_10,
00132 OBJECT_FLAG_R_B_20,
00133 OBJECT_FLAG_R_B_30,
00134 OBJECT_FLAG_R_B,
00135 OBJECT_FLAG_B_R_50,
00136 OBJECT_FLAG_B_R_40,
00137 OBJECT_FLAG_B_R_30,
00138 OBJECT_FLAG_B_R_20,
00139 OBJECT_FLAG_B_R_10,
00140 OBJECT_FLAG_C_B,
00141 OBJECT_FLAG_B_0,
00142 OBJECT_FLAG_B_L_10,
00143 OBJECT_FLAG_B_L_20,
00144 OBJECT_FLAG_B_L_30,
00145 OBJECT_FLAG_B_L_40,
00146 OBJECT_FLAG_B_L_50,
00147 OBJECT_FLAG_L_B,
00148 OBJECT_FLAG_L_B_30,
00149 OBJECT_FLAG_L_B_20,
00150 OBJECT_FLAG_L_B_10,
00151 OBJECT_FLAG_G_L_B,
00152 OBJECT_FLAG_L_0,
00153 OBJECT_FLAG_G_L_T,
00154 OBJECT_FLAG_L_T_10,
00155 OBJECT_FLAG_L_T_20,
00156 OBJECT_FLAG_L_T_30,
00157 OBJECT_FLAG_P_L_T,
00158 OBJECT_FLAG_P_L_C,
00159 OBJECT_FLAG_P_L_B,
00160 OBJECT_FLAG_P_R_T,
00161 OBJECT_FLAG_P_R_C,
00162 OBJECT_FLAG_P_R_B,
00163 OBJECT_FLAG_C,
00164 OBJECT_TEAMMATE_1,
00165 OBJECT_TEAMMATE_2,
00166 OBJECT_TEAMMATE_3,
00167 OBJECT_TEAMMATE_4,
00168 OBJECT_TEAMMATE_5,
00169 OBJECT_TEAMMATE_6,
00170 OBJECT_TEAMMATE_7,
00171 OBJECT_TEAMMATE_8,
00172 OBJECT_TEAMMATE_9,
00173 OBJECT_TEAMMATE_10,
00174 OBJECT_TEAMMATE_11,
00175 OBJECT_TEAMMATE_UNKNOWN,
00176 OBJECT_OPPONENT_1,
00177 OBJECT_OPPONENT_2,
00178 OBJECT_OPPONENT_3,
00179 OBJECT_OPPONENT_4,
00180 OBJECT_OPPONENT_5,
00181 OBJECT_OPPONENT_6,
00182 OBJECT_OPPONENT_7,
00183 OBJECT_OPPONENT_8,
00184 OBJECT_OPPONENT_9,
00185 OBJECT_OPPONENT_10,
00186 OBJECT_OPPONENT_11,
00187 OBJECT_OPPONENT_UNKNOWN,
00188 OBJECT_PLAYER_UNKNOWN,
00189 OBJECT_UNKNOWN,
00190 OBJECT_TEAMMATE_GOALIE,
00191 OBJECT_OPPONENT_GOALIE,
00192 OBJECT_ILLEGAL,
00193 OBJECT_MAX_OBJECTS
00194 } ;
00195
00198 enum ObjectSetT
00199 {
00200 OBJECT_SET_TEAMMATES,
00201 OBJECT_SET_OPPONENTS,
00202 OBJECT_SET_PLAYERS,
00203 OBJECT_SET_TEAMMATES_NO_GOALIE,
00204 OBJECT_SET_FLAGS,
00205 OBJECT_SET_LINES,
00206 OBJECT_SET_ILLEGAL
00207 } ;
00208
00212 enum PlayModeT {
00213 PM_BEFORE_KICK_OFF,
00214 PM_KICK_OFF_LEFT,
00215 PM_KICK_OFF_RIGHT,
00216 PM_KICK_IN_LEFT,
00217 PM_KICK_IN_RIGHT,
00218 PM_CORNER_KICK_LEFT,
00219 PM_CORNER_KICK_RIGHT,
00220 PM_GOAL_KICK_LEFT,
00221 PM_GOAL_KICK_RIGHT,
00222 PM_GOAL_LEFT,
00223 PM_GOAL_RIGHT,
00224 PM_FREE_KICK_FAULT_LEFT,
00225 PM_FREE_KICK_FAULT_RIGHT,
00226 PM_FREE_KICK_LEFT,
00227 PM_FREE_KICK_RIGHT,
00228 PM_INDIRECT_FREE_KICK_RIGHT,
00229 PM_INDIRECT_FREE_KICK_LEFT,
00230 PM_BACK_PASS_LEFT,
00231 PM_BACK_PASS_RIGHT,
00232 PM_OFFSIDE_LEFT,
00233 PM_OFFSIDE_RIGHT,
00234 PM_PLAY_ON,
00235 PM_TIME_OVER,
00236 PM_PENALTY_SETUP_LEFT,
00237 PM_PENALTY_SETUP_RIGHT,
00238 PM_PENALTY_READY_LEFT,
00239 PM_PENALTY_READY_RIGHT,
00240 PM_PENALTY_TAKEN_LEFT,
00241 PM_PENALTY_TAKEN_RIGHT,
00242 PM_FROZEN,
00243 PM_QUIT,
00244 PM_ILLEGAL
00245 } ;
00246
00250 enum RefereeMessageT {
00251 REFC_ILLEGAL,
00252 REFC_BEFORE_KICK_OFF,
00253 REFC_KICK_OFF_LEFT,
00254 REFC_KICK_OFF_RIGHT,
00255 REFC_KICK_IN_LEFT,
00256 REFC_KICK_IN_RIGHT,
00257 REFC_CORNER_KICK_LEFT,
00258 REFC_CORNER_KICK_RIGHT,
00259 REFC_GOAL_KICK_LEFT,
00260 REFC_GOAL_KICK_RIGHT,
00261 REFC_FREE_KICK_LEFT,
00262 REFC_FREE_KICK_RIGHT,
00263 REFC_INDIRECT_FREE_KICK_RIGHT,
00264 REFC_INDIRECT_FREE_KICK_LEFT,
00265 REFC_FREE_KICK_FAULT_LEFT,
00266 REFC_FREE_KICK_FAULT_RIGHT,
00267 REFC_BACK_PASS_LEFT,
00268 REFC_BACK_PASS_RIGHT,
00269 REFC_PLAY_ON,
00270 REFC_TIME_OVER,
00271 REFC_FROZEN,
00272 REFC_QUIT,
00273 REFC_OFFSIDE_LEFT,
00274 REFC_OFFSIDE_RIGHT,
00275 REFC_HALF_TIME,
00276 REFC_TIME_UP,
00277 REFC_TIME_UP_WITHOUT_A_TEAM,
00278 REFC_TIME_EXTENDED,
00279 REFC_FOUL_LEFT,
00280 REFC_FOUL_RIGHT,
00281 REFC_GOAL_LEFT,
00282 REFC_GOAL_RIGHT,
00283 REFC_DROP_BALL,
00284 REFC_GOALIE_CATCH_BALL_LEFT,
00285 REFC_GOALIE_CATCH_BALL_RIGHT,
00286 REFC_PENALTY_SETUP_LEFT,
00287 REFC_PENALTY_SETUP_RIGHT,
00288 REFC_PENALTY_READY_LEFT,
00289 REFC_PENALTY_READY_RIGHT,
00290 REFC_PENALTY_TAKEN_LEFT,
00291 REFC_PENALTY_TAKEN_RIGHT,
00292 REFC_PENALTY_MISS_LEFT,
00293 REFC_PENALTY_MISS_RIGHT,
00294 REFC_PENALTY_SCORE_LEFT,
00295 REFC_PENALTY_SCORE_RIGHT,
00296 REFC_PENALTY_FOUL_LEFT,
00297 REFC_PENALTY_FOUL_RIGHT,
00298 REFC_PENALTY_ONFIELD_LEFT,
00299 REFC_PENALTY_ONFIELD_RIGHT,
00300 REFC_PENALTY_WINNER_LEFT,
00301 REFC_PENALTY_WINNER_RIGHT,
00302 REFC_PENALTY_DRAW
00303 } ;
00304
00307 enum ViewAngleT {
00308 VA_NARROW,
00309 VA_NORMAL,
00310 VA_WIDE,
00311 VA_ILLEGAL
00312 };
00313
00316 enum ViewQualityT {
00317 VQ_HIGH,
00318 VQ_LOW,
00319 VQ_ILLEGAL
00320 };
00321
00323 enum SideT {
00324 SIDE_LEFT,
00325 SIDE_RIGHT,
00326 SIDE_ILLEGAL
00327 } ;
00328
00331 enum CommandT {
00332 CMD_ILLEGAL,
00333 CMD_DASH,
00334 CMD_TURN,
00335 CMD_TURNNECK,
00336 CMD_CHANGEVIEW,
00337 CMD_CATCH,
00338 CMD_KICK,
00339 CMD_MOVE,
00340 CMD_SENSEBODY,
00341 CMD_SAY,
00342 CMD_CHANGEPLAYER,
00343 CMD_ATTENTIONTO,
00344 CMD_TACKLE,
00345 CMD_POINTTO,
00346 CMD_MAX_COMMANDS
00347 } ;
00348
00354 enum PlayerT {
00355 PT_ILLEGAL,
00356 PT_GOALKEEPER,
00357 PT_DEFENDER_CENTRAL,
00358 PT_DEFENDER_SWEEPER,
00359 PT_DEFENDER_WING,
00360 PT_MIDFIELDER_CENTER,
00361 PT_MIDFIELDER_WING,
00362 PT_ATTACKER_WING,
00363 PT_ATTACKER,
00364 MAX_PLAYER_TYPES
00365 } ;
00366
00369 enum PlayerSetT {
00370 PS_DEFENDERS,
00371 PS_MIDFIELDERS,
00372 PS_ATTACKERS,
00373 PS_ALL
00374 } ;
00375
00378 enum FormationT {
00379 FT_ILLEGAL,
00380 FT_INITIAL,
00381 FT_433_OFFENSIVE,
00382 FT_334_OFFENSIVE,
00383 FT_DEFENSIVE,
00384 FT_OPEN_DEFENSIVE,
00385 FT_343_ATTACKING,
00386 MAX_FORMATION_TYPES
00387 } ;
00388
00391 enum BallStatusT {
00392 BS_ILLEGAL,
00393 BS_IN_FIELD,
00394 BS_GOAL_LEFT,
00395 BS_GOAL_RIGHT,
00396 BS_OUT_OF_FIELD
00397 } ;
00398
00400 enum ActionT {
00401 ACT_ILLEGAL,
00402 ACT_SEARCH_BALL,
00403 ACT_KICK_BALL,
00404 ACT_CATCH_BALL,
00405 ACT_INTERCEPT,
00406 ACT_MARK,
00407 ACT_TELEPORT_TO_STRATEGIC_POSITION,
00408 ACT_WATCH_BALL,
00409 ACT_ANTICIPATE_BALL,
00410 ACT_GOTO_STRATEGIC_POSITION,
00411 ACT_TURN_BODY_TO_CENTER,
00412 ACT_MOVE_TO_DEAD_BALL_POSITION,
00413 ACT_INTERCEPT_SCORING_ATTEMPT,
00414 ACT_DEFEND_GOALLINE,
00415 ACT_TELEPORT_AFTER_CATCH,
00416 ACT_TACKLE,
00417 ACT_HOLD_BALL
00418 } ;
00419
00420
00422 enum MarkT {
00423 MARK_ILLEGAL,
00424 MARK_GOAL,
00425 MARK_BISECTOR,
00426 MARK_BALL
00427 } ;
00428
00430 enum DribbleT {
00431 DRIBBLE_ILLEGAL,
00432 DRIBBLE_WITHBALL,
00433 DRIBBLE_SLOW,
00434 DRIBBLE_FAST
00435 } ;
00436
00438 enum PassT {
00439 PASS_ILLEGAL,
00440 PASS_FAST,
00441 PASS_NORMAL
00442 } ;
00443
00445 enum ClearBallT {
00446 CLEAR_BALL_ILLEGAL,
00447 CLEAR_BALL_OFFENSIVE,
00448 CLEAR_BALL_DEFENSIVE,
00449 CLEAR_BALL_OFFENSIVE_SIDE,
00450 CLEAR_BALL_GOAL
00451 } ;
00452
00455 enum TiredNessT {
00456 TIREDNESS_ILLEGAL,
00457 TIREDNESS_GOOD,
00458 TIREDNESS_AVERAGE,
00459 TIREDNESS_BAD,
00460 TIREDNESS_VERY_BAD,
00461 TIREDNESS_TERRIBLE
00462 } ;
00463
00470 enum FeatureT {
00471 FEATURE_ILLEGAL,
00472 FEATURE_FASTEST_OPPONENT_TO_BALL,
00473 FEATURE_FASTEST_TEAMMATE_TO_BALL,
00474 FEATURE_FASTEST_PLAYER_TO_BALL,
00475 FEATURE_FASTEST_TEAMMATE_TO_BALL_NO_GOALIE,
00476 FEATURE_INTERCEPTION_POINT_BALL,
00477 FEATURE_INTERCEPT_CLOSE,
00478 FEATURE_INTERCEPT_CYCLES_ME,
00479 FEATURE_BEST_SCORING_POINT,
00480 MAX_FEATURES
00481 } ;
00482
00484 enum DirectionT {
00485 DIR_ILLEGAL,
00486 DIR_NORTH,
00487 DIR_NORTHWEST,
00488 DIR_NORTHEAST,
00489 DIR_CENTER,
00490 DIR_EAST,
00491 DIR_WEST,
00492 DIR_SOUTHWEST,
00493 DIR_SOUTHEAST,
00494 DIR_SOUTH,
00495 DIR_MAX
00496 } ;
00497
00499 enum SucceedT {
00500 SUCCEED_ILLEGAL,
00501 SUCCEED_ALWAYS,
00502 SUCCEED_DOUBTFUL,
00503 SUCCEED_NEVER
00504 } ;
00505
00506
00507
00508
00509
00510
00523 class Time
00524 {
00525 int m_iTime;
00526 int m_iStopped;
00528 public:
00529 Time ( int iTime = -1, int iStopped = 0 );
00530 bool updateTime ( int iTime );
00531 bool setTimeStopped ( int iTime );
00532 int getTime ( );
00533 int getTimeStopped ( );
00534 int getTimeDifference( Time t );
00535 bool isStopped ( );
00536 Time getTimeAddedWith ( int iCycles );
00537 bool addToTime ( int iCycles );
00538 void show ( ostream &os = cout );
00539
00540
00541 Time operator + ( const int &i );
00542 Time operator + ( Time t );
00543 Time operator - ( const int &i );
00544 int operator - ( Time t );
00545 void operator = ( const int &i );
00546 void operator += ( Time t );
00547 void operator += ( const int &i );
00548 void operator -= ( Time t );
00549 void operator -= ( const int &i );
00550 bool operator != ( Time t );
00551 bool operator != ( const int &i );
00552 bool operator == ( Time t );
00553 bool operator == ( const int &i );
00554 bool operator < ( Time t );
00555 bool operator < ( const int &i );
00556 bool operator <= ( Time t );
00557 bool operator <= ( const int &i );
00558 bool operator > ( Time t );
00559 bool operator > ( const int &i );
00560 bool operator >= ( Time t );
00561 bool operator >= ( const int &i );
00562
00563
00564
00565 friend ostream& operator << ( ostream &os, Time t );
00566 } ;
00567
00568
00569
00570
00571
00572
00578 class SoccerCommand
00579 {
00580 ServerSettings *SS;
00582
00583 bool makeCatchCommand ( char *str );
00584 bool makeChangeViewCommand ( char *str );
00585 bool makeDashCommand ( char *str );
00586 bool makeKickCommand ( char *str );
00587 bool makeMoveCommand ( char *str );
00588 bool makeSayCommand ( char *str );
00589 bool makeSenseBodyCommand ( char *str );
00590 bool makeTurnCommand ( char *str );
00591 bool makeTurnNeckCommand ( char *str );
00592 bool makeChangePlayerCommand( char *str );
00593 bool makeAttentionToCommand ( char *str );
00594 bool makeTackleCommand ( char *str );
00595 bool makePointToCommand ( char *str );
00596
00597 public:
00598
00599
00600
00601
00602 Time time;
00603 CommandT commandType;
00604 double dAngle;
00605 double dPower;
00606 ViewQualityT vq;
00607 ViewAngleT va;
00608 double dX;
00609 double dY;
00610 char str[MAX_SAY_MSG];
00611 int iTimes;
00613 SoccerCommand( CommandT com = CMD_ILLEGAL, double d1=UnknownDoubleValue,
00614 double d2=UnknownDoubleValue,
00615 double d3=UnknownDoubleValue );
00616 SoccerCommand( CommandT com, char *msg );
00617
00618
00619 void makeCommand( CommandT com, double d1 = UnknownDoubleValue,
00620 double d2 = UnknownDoubleValue,
00621 double d3 = UnknownDoubleValue );
00622 void makeCommand( CommandT com, ViewAngleT v, ViewQualityT q );
00623 void makeCommand( CommandT com, char *msg );
00624
00625 bool isIllegal ( );
00626
00627 void show ( ostream& os );
00628
00629
00630 bool getCommandString( char *str, ServerSettings *ss );
00631 } ;
00632
00633
00634
00635
00636
00641 class Feature
00642 {
00643 Time m_timeSee;
00644 Time m_timeSense;
00645 Time m_timeHear;
00646 ObjectT m_object;
00647 double m_dInfo;
00648 VecPosition m_vec;
00649 SoccerCommand m_soc;
00651 public:
00652
00653 Feature( );
00654 Feature( Time timeSee,
00655 Time timeSense,
00656 Time timeHear,
00657 ObjectT object,
00658 double dInfo = UnknownDoubleValue,
00659 SoccerCommand soc = SoccerCommand(CMD_ILLEGAL),
00660 VecPosition pos = VecPosition(0,0) );
00661 bool setFeature ( Time timeSee,
00662 Time timeSense,
00663 Time timeHear,
00664 ObjectT object,
00665 double dInfo = UnknownDoubleValue,
00666 SoccerCommand soc = SoccerCommand(CMD_ILLEGAL),
00667 VecPosition pos = VecPosition(0,0) );
00668 bool setTimeSee ( Time time );
00669 Time getTimeSee ( );
00670 bool setTimeSense( Time time );
00671 Time getTimeSense( );
00672 bool setTimeHear ( Time time );
00673 Time getTimeHear ( );
00674 bool setObject ( ObjectT obj );
00675 ObjectT getObject ( );
00676 bool setInfo ( double d );
00677 double getInfo ( );
00678 bool setVec ( VecPosition pos );
00679 VecPosition getVec ( );
00680 bool setCommand ( SoccerCommand soc );
00681 SoccerCommand getCommand ( );
00682
00683 } ;
00684
00685
00686
00687
00688
00695 class SoccerTypes
00696 {
00697 public:
00698
00699 static char* getObjectStr ( char *strBuf,
00700 ObjectT o,
00701 const char *strTe=NULL);
00702 static ObjectT getObjectFromStr ( char **str,
00703 bool *isGoalie,
00704 const char *strTeam );
00705 static bool isInSet ( ObjectT o,
00706 ObjectSetT o_s,
00707 ObjectT objectGoalie=
00708 OBJECT_TEAMMATE_1 );
00709 static bool isPlayerTypeInSet ( PlayerT p,
00710 PlayerSetT p_s );
00711 static bool isFlag ( ObjectT o );
00712 static bool isLine ( ObjectT o );
00713 static bool isGoal ( ObjectT o );
00714 static ObjectT getOwnGoal ( SideT s );
00715 static ObjectT getGoalOpponent ( SideT s );
00716 static bool isBall ( ObjectT o );
00717 static bool isTeammate ( ObjectT o );
00718 static bool isOpponent ( ObjectT o );
00719 static bool isGoalie ( ObjectT o );
00720 static bool isPlayer ( ObjectT o );
00721 static bool isKnownPlayer ( ObjectT o );
00722 static int getIndex ( ObjectT o );
00723 static ObjectT getTeammateObjectFromIndex( int iIndex );
00724 static ObjectT getOpponentObjectFromIndex( int iIndex );
00725 static VecPosition getGlobalPositionFlag ( ObjectT o,
00726 SideT s,
00727 double dGoalWidth =14.02);
00728 static AngDeg getGlobalAngleLine ( ObjectT o,
00729 SideT s );
00730
00731
00732 static PlayModeT getPlayModeFromStr ( char *str );
00733 static PlayModeT getPlayModeFromRefereeMessage( RefereeMessageT rm );
00734 static char* getPlayModeStr ( PlayModeT p );
00735 static char* getRefereeMessageStr ( RefereeMessageT r );
00736 static RefereeMessageT getRefereeMessageFromStr ( char *str );
00737
00738
00739 static char* getViewAngleStr ( ViewAngleT v );
00740 static ViewAngleT getViewAngleFromStr ( char *str );
00741 static AngDeg getHalfViewAngleValue ( ViewAngleT va );
00742 static char* getViewQualityStr ( ViewQualityT v );
00743 static ViewQualityT getViewQualityFromStr ( char *str );
00744
00745
00746 static char* getCommandStr ( CommandT com );
00747 static bool isPrimaryCommand ( CommandT com );
00748
00749
00750 static char* getSideStr ( SideT s );
00751 static SideT getSideFromStr ( char* str );
00752
00753
00754 static char* getBallStatusStr ( BallStatusT bs );
00755 static BallStatusT getBallStatusFromStr ( char *str );
00756
00757 static AngDeg getAngleFromDirection ( DirectionT dir );
00758 } ;
00759
00760 #endif
