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());
}
GameState::GameState(ConfigFile & configFile, Log & _log)
: teamNumber(configFile.getInt("team/teamNumber", 0)),
playerNumber(configFile.getInt("team/playerNumber", 2)),
numberOfPlayersPerTeam(configFile.getInt("rules/numberOfPlayersPerTeam", 3)),
log(_log),
stateOfGame(initial),
firstHalf(true),
ourKickoff(true),
ourColorBlue(true),
numSecondsRemaining(0),
ourScore(0),
opponentScore(0),
numOurPlayersPenalized(0),
numOpponentPlayersPenalized(0),
thisPlayerPenalized(false),
penalized(new bool[numberOfPlayersPerTeam]),
numSecondsTillUnpenalized(0),
penaltyShoot(false) {
for (int i = 0; i < numberOfPlayersPerTeam; i++) {
penalized[i] = false;
}
}
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;
}
}
bool Annotation::initSection(const std::string &entry, const std::string &cfgname)
{
AnnotationCfgEntry e, *ne;
ConfigFile *cfg = s2e()->getConfig();
llvm::raw_ostream &os = s2e()->getWarningsStream();
std::vector<std::string> cfgkeys = s2e()->getConfig()->getListKeys(entry);
e.cfgname = cfgname;
bool ok;
e.isActive = cfg->getBool(entry + ".active", false, &ok);
if (!ok) {
os << "You must specify whether the entry is active in " << entry << ".active!" << '\n';
return false;
}
e.module = cfg->getString(entry + ".module", "", &ok);
if (!ok) {
os << "You must specify a valid module for " << entry << ".module!" << '\n';
return false;
}else {
if (!m_moduleExecutionDetector->isModuleConfigured(e.module)) {
os << "The module " << e.module << " is not configured in ModuleExecutionDetector!" << '\n';
return false;
}
}
e.address = cfg->getInt(entry + ".address", 0, &ok);
if (!ok) {
os << "You must specify a valid address for " << entry << ".address!" << '\n';
return false;
}
if (!m_functionMonitor || !m_moduleExecutionDetector || !m_osMonitor) {
os << "You must enable FunctionMonitor, ModuleExecutionDetector, and an OS monitor plugin\n";
return false;
}
// Check if this is a call or an instruction annotation
e.annotation = "";
if (std::find(cfgkeys.begin(), cfgkeys.end(), "callAnnotation") != cfgkeys.end()) {
e.annotation = cfg->getString(entry + ".callAnnotation", e.annotation, &ok);
e.isCallAnnotation = true;
} else if (std::find(cfgkeys.begin(), cfgkeys.end(), "instructionAnnotation") != cfgkeys.end()) {
e.annotation = cfg->getString(entry + ".instructionAnnotation", e.annotation, &ok);
e.isCallAnnotation = false;
}
// Assert that this is a properly attached annotation
if (!ok || e.annotation=="") {
os << "You must specify either " << entry << ".callAnnotation or .instructionAnnotation!" << '\n';
return false;
}
// Get additional annotation-specific options
e.paramCount = 0;
e.beforeInstruction = false;
e.switchInstructionToSymbolic = false;
if (e.isCallAnnotation) {
// Get the number of arguments of the annotated subroutine
e.paramCount = cfg->getInt(entry + ".paramcount", e.paramCount, &ok);
if (!ok) {
os << "You must specify a valid number of function parameters for " << entry << ".paramcount!" << '\n';
return false;
}
} else {
// Whether to call the annotation before or after the instruction
e.beforeInstruction = cfg->getBool(entry + ".beforeInstruction", e.beforeInstruction, &ok);
e.switchInstructionToSymbolic = cfg->getBool(entry + ".switchInstructionToSymbolic", e.switchInstructionToSymbolic, &ok);
}
ne = new AnnotationCfgEntry(e);
m_entries.insert(ne);
return true;
}
NaoCamera::NaoCamera(ConfigFile & configFile, Log & _log)
: V4L2_CID_AUTO_EXPOSURE(10094849),
NUM_FRAME_BUFFERS(configFile.getInt("camera/numFrameBuffers", 4)),
IMAGE_WIDTH(configFile.getInt("camera/imageWidth", 320)),
IMAGE_HEIGHT(configFile.getInt("camera/imageHeight", 240)),
FRAMES_PER_SECOND(configFile.getInt("camera/framesPerSecond", 0)),
IMAGE_SIZE(IMAGE_WIDTH * IMAGE_HEIGHT * 2),
BRIGHTNESS_TOP (configFile.getInt("camera/top/brightness", 55)),
CONTRAST_TOP (configFile.getInt("camera/top/contrast", 32)),
SATURATION_TOP (configFile.getInt("camera/top/saturation", 128)),
HUE_TOP (configFile.getInt("camera/top/hue", 0)),
AUTO_WHITE_BALANCE_TOP (configFile.getInt("camera/top/autoWhiteBalance", 0)),
WHITE_BALANCE_TOP (configFile.getInt("camera/top/whiteBalance", 0)),
AUTO_EXPOSURE_TOP (configFile.getInt("camera/top/autoExposure", 0)),
EXPOSURE_TOP (configFile.getInt("camera/top/exposure", 0)),
GAIN_TOP (configFile.getInt("camera/top/gain", 32)),
HORIZONTAL_FLIP_TOP (configFile.getInt("camera/top/horizontalFlip", 0)),
VERTICAL_FLIP_TOP (configFile.getInt("camera/top/verticalFlip", 0)),
SHARPNESS_TOP (configFile.getInt("camera/top/sharpness", 0)),
BACKLIGHT_COMPENSATION_TOP(configFile.getInt("camera/top/backlightCompensation", 1)),
BRIGHTNESS_BOTTOM (configFile.getInt("camera/bottom/brightness", BRIGHTNESS_TOP)),
CONTRAST_BOTTOM (configFile.getInt("camera/bottom/contrast", CONTRAST_TOP)),
SATURATION_BOTTOM (configFile.getInt("camera/bottom/saturation", SATURATION_TOP)),
HUE_BOTTOM (configFile.getInt("camera/bottom/hue", HUE_TOP)),
AUTO_WHITE_BALANCE_BOTTOM (configFile.getInt("camera/bottom/autoWhiteBalance", AUTO_WHITE_BALANCE_TOP)),
WHITE_BALANCE_BOTTOM (configFile.getInt("camera/bottom/whiteBalance", WHITE_BALANCE_TOP)),
AUTO_EXPOSURE_BOTTOM (configFile.getInt("camera/bottom/autoExposure", AUTO_EXPOSURE_TOP)),
EXPOSURE_BOTTOM (configFile.getInt("camera/bottom/exposure", EXPOSURE_TOP)),
GAIN_BOTTOM (configFile.getInt("camera/bottom/gain", GAIN_TOP)),
HORIZONTAL_FLIP_BOTTOM (configFile.getInt("camera/bottom/horizontalFlip", HORIZONTAL_FLIP_TOP)),
VERTICAL_FLIP_BOTTOM (configFile.getInt("camera/bottom/verticalFlip", VERTICAL_FLIP_TOP)),
SHARPNESS_BOTTOM (configFile.getInt("camera/bottom/sharpness", SHARPNESS_TOP)),
BACKLIGHT_COMPENSATION_BOTTOM(configFile.getInt("camera/bottom/backlightCompensation", BACKLIGHT_COMPENSATION_TOP)),
log(_log),
topCameraFd(-1),
bottomCameraFd(-1),
buffersTop(NULL),
buffersBottom(NULL),
numBuffersTop(0),
numBuffersBottom(0),
currentBufferTop(0),
currentBufferBottom(0),
v4l2BuffersTop(),
v4l2BuffersBottom(),
currentV4l2BufferTop(&v4l2BuffersTop[0]),
currentV4l2BufferBottom(&v4l2BuffersBottom[0]),
nextV4l2BufferTop(&v4l2BuffersTop[1]),
nextV4l2BufferBottom(&v4l2BuffersBottom[1]),
topCameraThread(),
bottomCameraThread(),
topThreadRunning(false),
bottomThreadRunning(false),
freshImage(),
freshImageMutex(),
freshImageTop(false),
freshImageBottom(false),
usingBottomCamera(true),
enqueuedTop(false),
enqueuedBottom(false) {
// Create the condition variable and its mutex
if (pthread_cond_init(&freshImage, NULL) < 0) {
return;
}
if (pthread_mutex_init(&freshImageMutex, NULL) < 0) {
return;
}
}
PlayerMessage::PlayerMessage(ConfigFile & configFile)
: teamNumber (configFile.getInt("team/teamNumber", -1)),
playerNumber(configFile.getInt("team/playerNumber", -1)),
ballSeen(false) {
}