/*!
*/
void
CoachDebugClient::toStr( const GlobalWorldModel & world )
{
std::ostringstream ostr;
ostr << "((debug (format-version 3)) (time "
<< world.time().cycle() << ")";
// coach identifier
if ( world.ourSide() == LEFT )
{
ostr << " (s l c)";
}
else
{
ostr << " (s r c)";
}
// say message
// if ( ! effector.getSayMessage().empty() )
// {
// ostr << " (say \"";
// for ( std::vector< const SayMessage * >::const_iterator it = effector.sayMessageCont().begin();
// it != effector.sayMessageCont().end();
// ++it )
// {
// (*it)->printDebug( ostr );
// }
// ostr << " {" << effector.getSayMessage() << "}\")";
// }
// heard information
// if ( world.audioMemory().time() == world.time() )
// {
// ostr << " (hear ";
// world.audioMemory().printDebug( ostr );
// ostr << ')';
// }
// target number
if ( M_target_unum != Unum_Unknown )
{
ostr << " (target-teammate " << M_target_unum << ")";
}
// target point
if ( M_target_point.isValid() )
{
ostr << " (target-point "
<< M_target_point.x << " " << M_target_point.y
<< ")";
}
// message
if ( ! M_message.empty() )
{
ostr << " (message \"" << M_message << "\")";
}
// lines
std::for_each( M_lines.begin(), M_lines.end(),
LinePrinter( ostr ) );
// triangles
std::for_each( M_triangles.begin(), M_triangles.end(),
TrianglePrinter( ostr ) );
// rectangles
std::for_each( M_rectangles.begin(), M_rectangles.end(),
RectPrinter( ostr ) );
// circles
std::for_each( M_circles.begin(), M_circles.end(),
CirclePrinter( ostr ) );
ostr << ")";
M_main_buffer.assign( ostr.str() );
}
/*!
*/
void
DebugClient::toStr( const WorldModel & world,
const ActionEffector & effector )
{
std::ostringstream ostr;
ostr << "((debug (format-version 3)) (time "
<< world.time().cycle() << ")";
// self
/*
SELF ::= (s SIDE PLAYER_NUMBER POS_X POS_Y VEL_X VEL_Y
BODY_DIRECTION FACE_DIRECTION [(c "COMMENT")])
where SIDE is 'l' or 'r'.
where PLAYER_NUMBER is 1 to 11.
where POS_X and POS_Y is absolute coordinate.
where VEL_X and VEL_Y is absolute velocity.
where BODY_DIRECTION is absolute player body direction (degree).
where NECK_DIRECTION is body relative face direction (degree).
This is equals to (absolute_face_direction - BODY_DIRECTION).
where COMMENT is a string.
Typically, it is used as information accuracy.
*/
if ( world.self().posValid() )
{
ostr << " (s "
<< ( world.ourSide() == LEFT ? "l " : "r " )
<< world.self().unum() << ' '
<< ROUND(world.self().pos().x, 0.01) << ' '
<< ROUND(world.self().pos().y, 0.01) << ' '
<< ROUND(world.self().vel().x, 0.01) << ' '
<< ROUND(world.self().vel().y, 0.01) << ' '
<< ROUND(world.self().body().degree(), 0.1) << ' '
<< ROUND(world.self().neck().degree(), 0.1) << " (c \""
<< world.self().posCount() << ' '
//<< '(' << ROUND(world.self().posError().x, 0.001)
//<< ", " << ROUND(world.self().posError().y, 0.001) << ") "
<< world.self().velCount() << ' '
<< world.self().faceCount();
if ( world.self().card() == YELLOW ) ostr << "y";
ostr << "\"))";
}
// ball
/*
BALL_INFO ::= (b POS_X POS_Y [VEL_X VEL_Y] [(c "COMMENT")])
*/
if ( world.ball().posValid() )
{
ostr << " (b "
<< ROUND(world.ball().pos().x, 0.01) << ' '
<< ROUND(world.ball().pos().y, 0.01);
if ( world.ball().velValid() )
{
ostr << ' ' << ROUND(world.ball().vel().x, 0.01)
<< ' ' << ROUND(world.ball().vel().y, 0.01);
}
ostr << " (c \"g" << world.ball().posCount()
<< 'r' << world.ball().rposCount()
//<< "(" << ROUND(world.ball().rpos().x, 0.01)
// << ", " << ROUND(world.ball().rpos().y, 0.01) << ')'
<< 'v' << world.ball().velCount()
//<< "(" << ROUND(world.ball().vel().x, 0.01)
// << ", " << ROUND(world.ball().vel().y, 0.01) << ')'
<< "\"))";
}
// players
/*
PLAYER_INFO ::= (TEAM [PLAYER_NUMBER] POS_X POS_Y
[(bd BODY_DIRECTION)] [(c "COMMENT")])
TEAM is one of follows.
't' (teammate), 'o' (opponent),
'u' (unknown), 'ut' (unknown teammate), 'ut' (unknown opponent).
When TEAM is 't' or 'o', PLAYER_NUMBER must be specified.
Otherwise PLAYER_NUMBER must not be specified.
Body direction and comment is optional.
*/
std::for_each( world.teammates().begin(),
world.teammates().end(),
PlayerPrinter( ostr, 't' ) );
std::for_each( world.opponents().begin(),
world.opponents().end(),
PlayerPrinter( ostr, 'o' ) );
std::for_each( world.unknownPlayers().begin(),
world.unknownPlayers().end(),
PlayerPrinter( ostr, 'u' ) );
// say message
if ( ! effector.getSayMessage().empty() )
{
ostr << " (say \"";
for ( std::vector< const SayMessage * >::const_iterator it = effector.sayMessageCont().begin();
it != effector.sayMessageCont().end();
++it )
{
(*it)->printDebug( ostr );
}
ostr << " {" << effector.getSayMessage() << "}\")";
}
// heard information
if ( world.audioMemory().time() == world.time() )
{
ostr << " (hear ";
world.audioMemory().printDebug( ostr );
ostr << ')';
}
// target number
if ( M_target_unum != Unum_Unknown )
{
ostr << " (target-teammate " << M_target_unum << ")";
}
// target point
if ( M_target_point.isValid() )
{
ostr << " (target-point "
<< M_target_point.x << " " << M_target_point.y
<< ")";
}
// message
if ( ! M_message.empty() )
{
ostr << " (message \"" << M_message << "\")";
}
// lines
std::for_each( M_lines.begin(), M_lines.end(),
LinePrinter( ostr ) );
// triangles
std::for_each( M_triangles.begin(), M_triangles.end(),
TrianglePrinter( ostr ) );
// rectangles
std::for_each( M_rectangles.begin(), M_rectangles.end(),
RectPrinter( ostr ) );
// circles
std::for_each( M_circles.begin(), M_circles.end(),
CirclePrinter( ostr ) );
ostr << ")";
M_main_buffer.assign( ostr.str() );
}
