ObeyGameManager::ObeyGameManager(ConfigFile & configFile, Log & _log)
: INITIAL_CHEST_COLOR (configFile.getInt("rules/initialChestColor", 0x000000)),
READY_CHEST_COLOR (configFile.getInt("rules/readyChestColor", 0x0000FF)),
SET_CHEST_COLOR (configFile.getInt("rules/setChestColor", 0xFFFF00)),
PLAYING_CHEST_COLOR (configFile.getInt("rules/playingChestColor", 0x00FF00)),
FINISHED_CHEST_COLOR (configFile.getInt("rules/finishedChestColor", 0x000000)),
PENALIZED_CHEST_COLOR(configFile.getInt("rules/penalisedChestColor", 0xFF0000)),
BLUE_TEAM_FOOT_COLOR (configFile.getInt("rules/blueTeamFootColor", 0x0000FF)),
RED_TEAM_FOOT_COLOR (configFile.getInt("rules/redTeamFootColor", 0xFF0000)),
KICKOFF_FOOT_COLOR (configFile.getInt("rules/kickoffFootColor", 0xFFFFFF)),
NO_KICKOFF_FOOT_COLOR(configFile.getInt("rules/noKickoffFootColor", 0x000000)),
READY_SPEECH (configFile.getString("behaviors/2010/tactics/obeyGameManager/readySpeech", "I will get ready for the game.")),
SET_SPEECH (configFile.getString("behaviors/2010/tactics/obeyGameManager/setSpeech", "I am all set!")),
PLAYING_SPEECH (configFile.getString("behaviors/2010/tactics/obeyGameManager/playingSpeech", "It's time to play.")),
PENALIZED_SPEECH (configFile.getString("behaviors/2010/tactics/obeyGameManager/penalizedSpeech", "Please don't penalize me!")),
BACK_FROM_PENALTY_SPEECH(configFile.getString("behaviors/2010/tactics/obeyGameManager/backFromPenaltySpeech", "The taste of freedom is sweet.")),
BLUE_TEAM_SPEECH (configFile.getString("behaviors/2010/tactics/obeyGameManager/blueTeamSpeech", "I am now on the blue team.")),
RED_TEAM_SPEECH (configFile.getString("behaviors/2010/tactics/obeyGameManager/redTeamSpeech", "I am now on the red team.")),
KICKOFF_SPEECH (configFile.getString("behaviors/2010/tactics/obeyGameManager/kickoffSpeech", "We have kickoff.")),
NO_KICKOFF_SPEECH (configFile.getString("behaviors/2010/tactics/obeyGameManager/noKickoffSpeech", "We don't have kickoff.")),
PLAYER_NUMBER(configFile.getInt("team/playerNumber", 2)),
HEAD_SPEED(configFile.getFloat("motion/defaultHeadSpeed", 0.8f)),
log(_log),
fsm(_log),
previousState(Uninitialized),
currentState(Uninitialized),
wasIBlue(false),
wasOurKickoff(false),
wasIPenalized(false) {
init(_log.getTimestamp());
}
CommRemote::CommRemote(ConfigFile & configFile, Log & _log)
: listenPort (configFile.getInt ("comm/remoteListenPort", 10000)),
maxClientQueue (configFile.getInt ("comm/remoteMaxClientQueue", 1)),
maxPacketSize (configFile.getInt ("comm/maxPacketSize", 1024)),
socketTimeout (configFile.getFloat("comm/socketTimeout", 1)),
robotMessageHeaderSize(configFile.getInt ("comm/robotMessageHeaderSize", 5)),
sendBufferSize (configFile.getInt ("comm/sendBufferSize", 1024 * 1024)),
log(_log),
serverSocket(-1),
clientSocket(-1),
threadRunning(false),
thread(),
dataMutex(),
messagesToRobot(),
messagesFromRobot(),
wasConnectedToClient(false),
sendBuffer(NULL),
sendBufferOffset(0) {
// Create the send buffer
if (sendBufferSize > 0) {
sendBuffer = new unsigned char[sendBufferSize];
}
// Create the TCP socket and bind to the right port
createTCPSocket();
// Create the data mutex
if (pthread_mutex_init(&dataMutex, NULL) < 0) {
LOG_ERROR("Error creating data mutex.");
return;
}
// Start the thread to read/send packets
if (pthread_create(&thread, NULL, startThread, this) < 0) {
LOG_ERROR("Error creating thread.");
return;
}
}
Field::Field(ConfigFile & configFile)
: carpetLength (configFile.getFloat("field/carpetLength")),
carpetWidth (configFile.getFloat("field/carpetWidth")),
fieldLength (configFile.getFloat("field/fieldLength")),
fieldWidth (configFile.getFloat("field/fieldWidth")),
halfFieldLength (fieldLength / 2),
halfFieldWidth (fieldWidth / 2),
penaltyBoxLength (configFile.getFloat("field/penaltyBoxLength")),
penaltyBoxWidth (configFile.getFloat("field/penaltyBoxWidth")),
halfPenaltyBoxWidth(penaltyBoxWidth / 2),
goalWidth (configFile.getFloat("field/goalWidth")),
centerCircleRadius (configFile.getFloat("field/centerCircleRadius")),
isOurColorBlue (true),
ourPenaltyPoint (-configFile.getFloat("field/distCenterToPenaltyPoint"), 0),
opponentPenaltyPoint( configFile.getFloat("field/distCenterToPenaltyPoint"), 0),
ourGoal (-halfFieldLength, 0),
opponentGoal ( halfFieldLength, 0),
ourGoalPostLeft (-halfFieldLength, -goalWidth / 2),
ourGoalPostRight (-halfFieldLength, goalWidth / 2),
opponentGoalPostLeft ( halfFieldLength, goalWidth / 2),
opponentGoalPostRight( halfFieldLength, -goalWidth / 2),
goaliePenaltyBoxTopLeft (-halfFieldLength + penaltyBoxLength , penaltyBoxWidth / 2),
goaliePenaltyBoxTopRight(-halfFieldLength + penaltyBoxLength , -penaltyBoxWidth / 2),
goaliePenaltyBoxBottomLeft(-halfFieldLength, penaltyBoxWidth / 2),
goaliePenaltyBoxBottomRight(-halfFieldLength, -penaltyBoxWidth / 2)
{
L_corners[0].x = getHalfFieldLength();
L_corners[0].y = getHalfFieldWidth();
L_corner_angles[0] = -3 * M_PI / 4;
L_corners[1].x = getHalfFieldLength();
L_corners[1].y = -getHalfFieldWidth();
L_corner_angles[1] = 3 * M_PI / 4;
L_corners[2].x = -getHalfFieldLength();
L_corners[2].y = getHalfFieldWidth();
L_corner_angles[2] = -M_PI / 4;
L_corners[3].x = -getHalfFieldLength();
L_corners[3].y = -getHalfFieldWidth();
L_corner_angles[3] = M_PI / 4;
L_corners[4].x = getHalfFieldLength() - getPenaltyBoxLength();
L_corners[4].y = getHalfPenaltyBoxWidth();
L_corner_angles[4] = -M_PI / 4;
L_corners[5].x = getHalfFieldLength() - getPenaltyBoxLength();
L_corners[5].y = -getHalfPenaltyBoxWidth();
L_corner_angles[5] = M_PI / 4;
L_corners[6].x = -getHalfFieldLength() + getPenaltyBoxLength();
L_corners[6].y = getHalfPenaltyBoxWidth();
L_corner_angles[6] = -3 * M_PI / 4;
L_corners[7].x = -getHalfFieldLength() + getPenaltyBoxLength();
L_corners[7].y = -getHalfPenaltyBoxWidth();
L_corner_angles[7] = 3 * M_PI / 4;
T_corners[0].x = getHalfFieldLength();
T_corners[0].y = getHalfPenaltyBoxWidth();
T_corner_angles[0] = -M_PI;
T_corners[1].x = getHalfFieldLength();
T_corners[1].y = -getHalfPenaltyBoxWidth();
T_corner_angles[1] = -M_PI;
T_corners[2].x = -getHalfFieldLength();
T_corners[2].y = getHalfPenaltyBoxWidth();
T_corner_angles[2] = M_PI;
T_corners[3].x = -getHalfFieldLength();
T_corners[3].y = -getHalfPenaltyBoxWidth();
T_corner_angles[3] = M_PI;
T_corners[4].x = 0;
T_corners[4].y = getHalfFieldWidth();
T_corner_angles[4] = -M_PI / 2;
T_corners[5].x = 0;
T_corners[5].y = -getHalfFieldWidth();
T_corner_angles[5] = M_PI / 2;
cross_corners[0].x = 0;
cross_corners[0].y = getCenterCircleRadius();
cross_corners[1].x = 0;
cross_corners[1].y = -getCenterCircleRadius();
//two endpoints per line segment
//LINE ENDPOINTS MUST BE ORDERED SO THAT POINT 2 HAS X & Y THAT ARE >= THE X & Y OF POINT 1!!!!!!!!!
lines[0][0].x = getHalfFieldLength(); lines[0][0].y = -getHalfFieldWidth();
lines[0][1].x = getHalfFieldLength(); lines[0][1].y = getHalfFieldWidth();
lines[1][0].x = -getHalfFieldLength(); lines[1][0].y = -getHalfFieldWidth();
lines[1][1].x = -getHalfFieldLength(); lines[1][1].y = getHalfFieldWidth();
lines[2][0].x = -getHalfFieldLength(); lines[2][0].y = getHalfFieldWidth();
lines[2][1].x = getHalfFieldLength(); lines[2][1].y = getHalfFieldWidth();
lines[3][0].x = -getHalfFieldLength(); lines[3][0].y = -getHalfFieldWidth();
lines[3][1].x = getHalfFieldLength(); lines[3][1].y = -getHalfFieldWidth();
lines[4][0].x = 0; lines[4][0].y = -getHalfFieldWidth();
lines[4][1].x = 0; lines[4][1].y = getHalfFieldWidth();
lines[5][0].x = getHalfFieldLength() - getPenaltyBoxLength(); lines[5][0].y = getHalfPenaltyBoxWidth();
lines[5][1].x = getHalfFieldLength(); lines[5][1].y = getHalfPenaltyBoxWidth();
lines[6][0].x = getHalfFieldLength() - getPenaltyBoxLength(); lines[6][0].y = -getHalfPenaltyBoxWidth();
lines[6][1].x = getHalfFieldLength(); lines[6][1].y = -getHalfPenaltyBoxWidth();
lines[7][0].x = getHalfFieldLength() - getPenaltyBoxLength(); lines[7][0].y = -getHalfPenaltyBoxWidth();
lines[7][1].x = getHalfFieldLength() - getPenaltyBoxLength(); lines[7][1].y = getHalfPenaltyBoxWidth();
lines[8][0].x = -getHalfFieldLength(); lines[8][0].y = getHalfPenaltyBoxWidth();
lines[8][1].x = -getHalfFieldLength() + getPenaltyBoxLength(); lines[8][1].y = getHalfPenaltyBoxWidth();
lines[9][0].x = -getHalfFieldLength(); lines[9][0].y = -getHalfPenaltyBoxWidth();
lines[9][1].x = -getHalfFieldLength() + getPenaltyBoxLength(); lines[9][1].y = -getHalfPenaltyBoxWidth();
lines[10][0].x = -getHalfFieldLength() + getPenaltyBoxLength(); lines[10][0].y = -getHalfPenaltyBoxWidth();
lines[10][1].x = -getHalfFieldLength() + getPenaltyBoxLength(); lines[10][1].y = getHalfPenaltyBoxWidth();
}