/*!
*/
int
GoalieMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "g<pos_body:4>"
// the length of message == 5
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "GoalieMessageParser::parse()."
<< " Illegal message [" << msg
<< "] len = " << std::strlen( msg )
<< std::endl;
dlog.addText( Logger::SENSOR,
"GoalieMessageParser: Failed to decode Goalie Info [%s]",
msg );
return -1;
}
++msg;
boost::int64_t ival = 0;
if ( ! AudioCodec::i().decodeStrToInt64( std::string( msg, slength() - 1 ),
&ival ) )
{
std::cerr << "GoalieMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"GoalieMessageParser: Failed to decode Goalie Info [%s]",
msg );
return -1;
}
Vector2D goalie_pos;
AngleDeg goalie_body;
goalie_body = static_cast< double >( ival % 360 - 180 );
ival /= 360;
goalie_pos.y = ( ival % 400 ) * 0.1 - 20.0;
ival /= 400;
goalie_pos.x = ( ival % 160 ) * 0.1 + ( 53.0 - 16.0 );
dlog.addText( Logger::SENSOR,
"GoalieMessageParser: success! goalie pos = (%.2f %.2f) body = %.1f",
goalie_pos.x, goalie_pos.y, goalie_body.degree() );
M_memory->setOpponentGoalie( sender, goalie_pos, goalie_body, current );
return slength();
}
params loadWithStringHeaderParams(const std::string& datafilepath, const std::string& header) {
CSVInput input(datafilepath);
StringHeader sheader(header);
params p;
p.setInput(input);
p.setHeader(sheader);
return p;
}
/*!
*/
int
RecoveryMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "r<rate:1>"
// the length of message == 2
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "RecoveryMessageParser::parse()"
<< " Illegal message [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"RecoveryMessageParser: Failed to decode Recovery Rate [%s]",
msg );
return -1;
}
++msg;
double rate = AudioCodec::i().decodeCharToPercentage( *msg );
if ( rate == AudioCodec::ERROR_VALUE )
{
std::cerr << "RecoveryMessageParser::parser()"
<< " Failed to read recovery rate [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"RecoveryMessageParser: Failed to decode Recovery Rate [%s]",
msg );
return -1;
}
double recovery
= rate * ( ServerParam::i().recoverInit() - ServerParam::i().recoverMin() )
+ ServerParam::i().recoverMin();
dlog.addText( Logger::SENSOR,
"RecoverMessageParser::parse() success! rate=%f recovery=%.3f",
rate, recovery );
M_memory->setRecovery( sender, rate, current );
return slength();
}
/*!
*/
int
BallMessageParser::parse( const int sender ,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "b<pos_vel:5>"
// the length of message == 6
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "***ERROR*** BallMessageParser::parse()"
<< " Illegal ball message [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"BallMessageParser: Illegal ball info [%s]",
msg );
return -1;
}
++msg;
Vector2D ball_pos;
Vector2D ball_vel;
if ( ! AudioCodec::i().decodeStr5ToPosVel( std::string( msg, slength() - 1 ),
&ball_pos, &ball_vel ) )
{
std::cerr << "***ERROR*** BallMessageParser::parse()"
<< " Failed to decode ball [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"BallMessageParser: Failed to decode Ball Info [%s]",
msg );
return -1;
}
dlog.addText( Logger::SENSOR,
"BallMessageParser::parse() success! pos(%.1f %.1f) vel(%.1f %.1f)",
ball_pos.x, ball_pos.y,
ball_vel.x, ball_vel.y );
M_memory->setBall( sender, ball_pos, ball_vel, current );
return slength();
}
/*!
*/
int
WaitRequestMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
if ( *msg != sheader() )
{
return 0;
}
M_memory->setWaitRequest( sender, current );
return slength();
}
/*!
*/
int
DefenseLineMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "d<x_rate:1>"
// the length of message == 2
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "DefenseLineMessageParser::parse()"
<< " Illegal message [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"DefenseLineMessageParser: Failed to decode Defense Line Info [%s]",
msg );
return -1;
}
++msg;
double rate = AudioCodec::i().decodeCharToPercentage( *msg );
if ( rate == AudioCodec::ERROR_VALUE )
{
std::cerr << "DefenseLineMessageParser::parser()"
<< " Failed to read offside line [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"DefenseLineMessageParser: Failed to decode Defense Line Info [%s]",
msg );
return -1;
}
double defense_line_x = 52.0 + ( -10.0 + 52.0 ) * rate;
dlog.addText( Logger::SENSOR,
"DefenseLineMessageParser::parse() success! x=%.1f rate=%.3f",
defense_line_x, rate );
M_memory->setDefenseLine( sender, defense_line_x, current );
return slength();
}
/*!
*/
int
StaminaMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "s<rate:1>"
// the length of message == 2
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "StaminaMessageParser::parse()"
<< " Illegal message [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"StaminaMessageParser: Failed to decode Stamina Rate [%s]",
msg );
return -1;
}
++msg;
double rate = AudioCodec::i().decodeCharToPercentage( *msg );
if ( rate < 0.0 || 1.00001 < rate )
{
std::cerr << "StaminaMessageParser::parser()"
<< " Failed to read stamina rate [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"StaminaMessageParser: Failed to decode Stamina Rate [%s]",
msg );
return -1;
}
double stamina = ServerParam::i().staminaMax() * rate;
dlog.addText( Logger::SENSOR,
"StaminaMessageParser::parse() success! rate=%f stamina=%.1f",
rate, stamina );
M_memory->setStamina( sender, rate, current );
return slength();
}
/*!
*/
int
PassRequestMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "h<pos:3>"
// the length of message == 4
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "PassRequestMessageParser::parse()"
<< " Illegal pass request message ["
<< msg << "] len = " << std::strlen( msg )
<< std::endl;
return -1;
}
++msg;
Vector2D pos;
if ( ! AudioCodec::i().decodeStr3ToPos( std::string( msg, slength() - 1 ),
&pos ) )
{
std::cerr << "PassRequestMessage::parse()"
<< " Failed to decode pass request potiiton. ["
<< msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"AudioSensor: Failed to decode hey pass potiiton" );
return -1;
}
dlog.addText( Logger::SENSOR,
"PassRequestMessageParser: success! "
"sender = %d request pos = (%.2f %.2f)",
sender, pos.x, pos.y );
M_memory->setPassRequest( sender, pos, current );
return slength();
}
/*!
*/
int
ThreePlayerMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "R<unum_pos:3,unum_pos:3,unm_pos:3>"
// the length of message == 10
// ( 22 * 105/0.63 * 68/0.63 ) = 395767.195767196 < 74^3(=405224)
// -> 22 * 168 * 109 = 402864
// (22 * 168 * 109)^3 = 65384586487148544
// 74^9 = 66540410775079424
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "ThreePlayerMessageParser::parse()"
<< " Illegal message ["
<< msg << "] len = " << std::strlen( msg )
<< std::endl;
return -1;
}
++msg;
boost::int64_t ival = 0;
if ( ! AudioCodec::i().decodeStrToInt64( std::string( msg, slength() - 1 ),
&ival ) )
{
std::cerr << "ThreePlayerMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"ThreePlayerMessageParser: Failed to decode Player Info [%s]",
msg );
return -1;
}
int player1_unum = Unum_Unknown;
Vector2D player1_pos;
int player2_unum = Unum_Unknown;
Vector2D player2_pos;
int player3_unum = Unum_Unknown;
Vector2D player3_pos;
// 109 > 68/0.63
player3_pos.y = ( ival % 109 ) * 0.63 - 34.0;
ival /= 109;
// 168 > 105/0.63
player3_pos.x = ( ival % 168 ) * 0.63 - 52.5;
ival /= 168;
// 22
player3_unum = ( ival % 22 ) + 1;
ival /= 22;
// 109 > 68/0.63
player2_pos.y = ( ival % 109 ) * 0.63 - 34.0;
ival /= 109;
// 168 > 105/0.63
player2_pos.x = ( ival % 168 ) * 0.63 - 52.5;
ival /= 168;
// 22
player2_unum = ( ival % 22 ) + 1;
ival /= 22;
// 109 > 68/0.63
player1_pos.y = ( ival % 109 ) * 0.63 - 34.0;
ival /= 109;
// 168 > 105/0.63
player1_pos.x = ( ival % 168 ) * 0.63 - 52.5;
ival /= 168;
// 22
player1_unum = ( ival % 22 ) + 1;
ival /= 22;
dlog.addText( Logger::SENSOR,
"ThreePlayerMessageParser: success! "
"(unum=%d (%.2f %.2f)), (unum=%d (%.2f %.2f)), (unum=%d (%.2f %.2f)) ",
player1_unum,
player1_pos.x, player1_pos.y,
player2_unum,
player2_pos.x, player2_pos.y,
player3_unum,
player3_pos.x, player3_pos.y );
M_memory->setPlayer( sender,
player1_unum,
player1_pos,
current );
M_memory->setPlayer( sender,
player2_unum,
player2_pos,
current );
M_memory->setPlayer( sender,
player3_unum,
player3_pos,
current );
return slength();
}
/*!
*/
int
InterceptMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "i<unum:1><cycle:1>"
// the length of message == 3
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "InterceptMessageParser::parse()"
<< " Illegal message = [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"AudioSensor: Failed to decode intercept info [%s]",
msg );
return -1;
}
++msg;
AudioCodec::CharToIntCont::const_iterator unum_it
= AudioCodec::i().charToIntMap().find( *msg );
if ( unum_it == AudioCodec::i().charToIntMap().end()
|| unum_it->second <= 0
|| MAX_PLAYER*2 < unum_it->second )
{
std::cerr << "InterceptMessageParser::parse() "
<< " Illegal player number. message = [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"InterceptMessageParser: Failed to decode intercept info [%s]",
msg );
return -1;
}
++msg;
AudioCodec::CharToIntCont::const_iterator cycle
= AudioCodec::i().charToIntMap().find( *msg );
if ( cycle == AudioCodec::i().charToIntMap().end() )
{
std::cerr << "InterceptMessageParser::parse() "
<< " Illegal cycle. message = [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"InterceptMessageParser: Failed to decode intercept info [%s]",
msg );
return -1;
}
dlog.addText( Logger::SENSOR,
"InterceptMessageParser: success! number=%d cycle=%d",
unum_it->second, cycle->second );
M_memory->setIntercept( sender, unum_it->second, cycle->second, current );
return slength();
}
/*!
*/
int
BallPlayerMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "P<bpos_bvel_unum_pos_body:9>"
// the length of message == 10
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "OnePlayerMessageParser::parse()"
<< " Illegal message ["
<< msg << "] len = " << std::strlen( msg )
<< std::endl;
return -1;
}
++msg;
Vector2D ball_pos;
Vector2D ball_vel;
if ( ! AudioCodec::i().decodeStr5ToPosVel( std::string( msg, 5 ),
&ball_pos, &ball_vel ) )
{
std::cerr << "***ERROR*** BallPlayerMessageParser::parse()"
<< " Failed to decode ball [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"BallPlayerMessageParser: Failed to decode Ball Info [%s]",
msg );
return -1;
}
msg += 5;
boost::int64_t ival = 0;
if ( ! AudioCodec::i().decodeStrToInt64( std::string( msg, 4 ),
&ival ) )
{
std::cerr << "BallPlayerMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"BallPlayerMessageParser: Failed to decode Player Info [%s]",
msg );
return -1;
}
int player_unum = Unum_Unknown;
Vector2D player_pos;
AngleDeg player_body;
// 180=360/2
player_body = static_cast< double >( ( ival % 180 ) * 2 - 180 );
ival /= 180;
// 69 > 68/1.0
player_pos.y = ( ival % 69 ) * 1.0 - 34.0;
ival /= 69;
// 106 > 105/1.0
player_pos.x = ( ival % 106 ) * 1.0 - 52.5;
ival /= 106;
player_unum = ( ival % 22 ) + 1;
// ival /= 22
dlog.addText( Logger::SENSOR,
"BallPlayerMessageParser: success! "
" bpos(%.1f %.1f) bvel(%.1f %.1f)"
" unum=%d pos(%.1f %.1f) body %.1f",
ball_pos.x, ball_pos.y,
ball_vel.x, ball_vel.y,
player_unum,
player_pos.x, player_pos.y,
player_body.degree() );
M_memory->setBall( sender, ball_pos, ball_vel, current );
M_memory->setPlayer( sender,
player_unum,
player_pos,
player_body.degree(),
-1.0, // unknown stamina
current );
return slength();
}
/*!
*/
int
OpponentMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "O<unum_pos_body:4>"
// the length of message == 5
//11 * 105/0.7 * 68/0.7 * 360/2
// -> 11 * 151 * 98 * 180
// =29300040 < 4 characters(74^4=29986576)
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "OpponentMessageParser::parse()"
<< " Illegal message ["
<< msg << "] len = " << std::strlen( msg )
<< std::endl;
return -1;
}
++msg;
boost::int64_t ival = 0;
if ( ! AudioCodec::i().decodeStrToInt64( std::string( msg, slength() - 1 ),
&ival ) )
{
std::cerr << "OpponentMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"OpponentMessageParser: Failed to decode Player Info [%s]",
msg );
return -1;
}
int player_unum = Unum_Unknown;
Vector2D player_pos;
AngleDeg player_body;
// 180=360/2
player_body = static_cast< double >( ( ival % 180 ) * 2 - 180 );
ival /= 180;
// 98=68/0.7=97.14
player_pos.y = ( ival % 98 ) * 0.7 - 34.0;
ival /= 98;
// 151>105/0.7=150
player_pos.x = ( ival % 151 ) * 0.7 - 52.5;
ival /= 151;
player_unum = ( ival % 11 ) + 1;
// ival /= 11
dlog.addText( Logger::SENSOR,
"OpponentMessageParser: success! "
"unum = %d pos(%.1f %.1f) body %.1f",
player_unum,
player_pos.x, player_pos.y,
player_body.degree() );
M_memory->setPlayer( sender,
player_unum + 11,
player_pos,
player_body.degree(),
-1.0, // unknown stamina
current );
return slength();
}
/*!
*/
int
SelfMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "S<pos_body_stamina:4>"
// the length of message == 5
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "SelfMessageParser::parse()"
<< " Illegal message ["
<< msg << "] len = " << std::strlen( msg )
<< std::endl;
return -1;
}
++msg;
boost::int64_t ival = 0;
if ( ! AudioCodec::i().decodeStrToInt64( std::string( msg, slength() - 1 ),
&ival ) )
{
std::cerr << "SelfMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"SelfMessageParser: Failed to decode Player Info [%s]",
msg );
return -1;
}
int player_unum = sender;
Vector2D player_pos;
AngleDeg player_body;
double stamina = -1.0;
// 11
stamina = ServerParam::i().staminaMax() * static_cast< double >( ( ival % 11 ) ) / 10.0;
ival /= 11;
// 60=360/6
player_body = ( ival % 60 ) * 6.0 - 180.0;
ival /= 60;
// 171 > 68/0.4
player_pos.y = ( ival % 171 ) * 0.4 - 34.0;
ival /= 171;
// 264 > 105/0.4=262.5
player_pos.x = ( ival % 264 ) * 0.4 - 52.5;
//ival /= 264;
dlog.addText( Logger::SENSOR,
"SelfMessageParser: success! "
"unum = %d pos(%.1f %.1f) body=%.1f stamina=%f",
player_unum,
player_pos.x, player_pos.y,
player_body.degree(),
stamina );
M_memory->setPlayer( sender,
player_unum,
player_pos,
player_body.degree(),
stamina,
current );
return slength();
}
/*!
*/
int
PassMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "p<unum_pos:4><pos_vel:5>"
// the length of message == 10
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "PassMessageParser::parse()"
<< " Illegal pass pass message ["
<< msg << "] len = " << std::strlen( msg )
<< std::endl;
dlog.addText( Logger::SENSOR,
"PassMessageParser Failed to decode Pass Info [%s]",
msg );
return -1;
}
++msg;
int receiver_number = 0;
Vector2D receive_pos;
if ( ! AudioCodec::i().decodeStr4ToUnumPos( std::string( msg, 4 ),
&receiver_number,
&receive_pos ) )
{
std::cerr << "PassMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"PassMessageParser: Failed to decode Pass Info [%s]",
msg );
return -1;
}
msg += 4;
Vector2D ball_pos;
Vector2D ball_vel;
if ( ! AudioCodec::i().decodeStr5ToPosVel( std::string( msg, 5 ),
&ball_pos, &ball_vel ) )
{
std::cerr << "***ERROR*** PassMessageParser::parse()"
<< " Failed to decode ball [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"PassMessageParser: Failed to decode Ball Info [%s]",
msg );
return -1;
}
msg += 5;
dlog.addText( Logger::SENSOR,
"PassMessageParser::parse() success! receiver %d"
" recv_pos(%.1f %.1f)"
" bpos(%.1f %.1f) bvel(%.1f %.1f)",
receiver_number,
receive_pos.x, receive_pos.y,
ball_pos.x, ball_pos.y,
ball_vel.x, ball_vel.y );
M_memory->setPass( sender, receiver_number, receive_pos, current );
M_memory->setBall( sender, ball_pos, ball_vel, current );
return slength();
}
/*!
*/
int
DribbleMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "D<count_pos:3>"
// the length of message == 4
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "DribbleMessageParser::parse()"
<< " Illegal message ["
<< msg << "] len = " << std::strlen( msg )
<< std::endl;
return -1;
}
++msg;
boost::int64_t ival = 0;
if ( ! AudioCodec::i().decodeStrToInt64( std::string( msg, slength() - 1 ),
&ival ) )
{
std::cerr << "DribbleMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"DribbleMessageParser: Failed to decode Dribble Info [%s]",
msg );
return -1;
}
Vector2D pos;
int count;
count = static_cast< int >( ival % 10 ) + 1;
ival /= 10;
boost::int64_t div = static_cast< boost::int64_t >( std::ceil( 68.0 / 0.5 ) );
pos.y = ( ival % div ) * 0.5 - 34.0;
ival /= div;
// div = static_cast< boost::int64_t >( std::ceil( 105.0 / 0.5 ) );
// pos.x = ( ival % div ) * 0.5 - 52.5;
pos.x = ival * 0.5 - 52.5;
dlog.addText( Logger::SENSOR,
"DribbleMessageParser: success! "
"sender = %d target_pos=(%.2f %.2f) count=%d",
sender, pos.x, pos.y, count );
M_memory->setDribbleTarget( sender, pos, count, current );
return slength();
}
/*!
*/
int
BallGoalieMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "G<bpos_bvel_gpos_gbody:9>"
// the length of message == 10
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "BallGoalieMessageParser::parse()"
<< " Illegal message ["
<< msg << "] len = " << std::strlen( msg )
<< std::endl;
return -1;
}
++msg;
boost::int64_t ival = 0;
if ( ! AudioCodec::i().decodeStrToInt64( std::string( msg, slength() - 1 ),
&ival ) )
{
std::cerr << "BallGoalieMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"BallGoalieMessageParser: Failed to decode Goalie Info [%s]",
msg );
return -1;
}
// 74^9 = 66540410775079424
// 1050*680*60*60*160*400*360 = 59222016000000000
// 1050*680*63*63*160*400*360 = 65292272640000000
const double max_speed = ServerParam::i().ballSpeedMax();
const double prec_speed = max_speed * 2.0 / 63.0;
Vector2D ball_pos;
Vector2D ball_vel;
Vector2D goalie_pos;
AngleDeg goalie_body;
goalie_body = static_cast< double >( ival % 360 - 180 );
ival /= 360;
goalie_pos.y = ( ival % 400 ) * 0.1 - 20.0;
ival /= 400;
goalie_pos.x = ( ival % 160 ) * 0.1 + ( 52.5 - 16.0 );
ival /= 160;
ball_vel.y = ( ival % 63 ) * prec_speed - max_speed;
ival /= 63;
ball_vel.x = ( ival % 63 ) * prec_speed - max_speed;
ival /= 63;
ball_pos.y = ( ival % 680 ) * 0.1 - 34.0;
ival /= 680;
ball_pos.x = ( ival % 1050 ) * 0.1 - 52.5;
//ival /= 1050;
dlog.addText( Logger::SENSOR,
"BallGoalieMessageParser: success! "
"sender = %d bpos(%.1f %.1f) bvel(%.1f %.1f)"
" gpos(%.1f %.1f) gbody %.1f",
sender,
ball_pos.x, ball_pos.y,
ball_vel.x, ball_vel.y,
goalie_pos.x, goalie_pos.y,
goalie_body.degree() );
M_memory->setBall( sender, ball_pos, ball_vel, current );
M_memory->setOpponentGoalie( sender, goalie_pos, goalie_body, current );
return slength();
}
/*!
*/
int
GoalieAndPlayerMessageParser::parse( const int sender,
const double & ,
const char * msg,
const GameTime & current )
{
// format:
// "g<pos_body:4,unm_pos:3>"
// the length of message == 8
// ( 22 * 105/0.63 * 68/0.63 ) * ( 16.0/0.1 * 40.0/0.1 * 360 )
// -> (22 * 168 * 109) * (160 * 400 * 360) = 9281986560000
// 74^6 = 164206490176
// 9281986560000
// 74^7 = 12151280273024
// ( 22 * 105/0.55 * 68/0.55 ) * ( 16.0/0.1 * 40.0/0.1 * 360 )
// -> (22 * 192 * 125) * (160 * 400 * 360) = 12165120000000
// ==========
// ( 22 * 105/0.555 * 68/0.555 ) * ( 16.0/0.1 * 40.0/0.1 * 360 )
// -> (22 * 191 * 124) * (160 * 400 * 360) = 12004945920000
// ==========
// ( 22 * 105/0.56 * 68/0.55 ) * ( 16.0/0.1 * 40.0/0.1 * 360 )
// -> (22 * 189 * 123) * (160 * 400 * 360) = 11783439360000
if ( *msg != sheader() )
{
return 0;
}
if ( (int)std::strlen( msg ) < slength() )
{
std::cerr << "Goalie1PlayerMessageParser::parse()."
<< " Illegal message [" << msg
<< "] len = " << std::strlen( msg )
<< std::endl;
dlog.addText( Logger::SENSOR,
"Goalie1PlayerMessageParser: Failed to decode Goalie Info [%s]",
msg );
return -1;
}
++msg;
boost::int64_t ival = 0;
if ( ! AudioCodec::i().decodeStrToInt64( std::string( msg, slength() - 1 ),
&ival ) )
{
std::cerr << "Goalie1PlayerMessageParser::parse()"
<< " Failed to parse [" << msg << "]"
<< std::endl;
dlog.addText( Logger::SENSOR,
"Goalie1PlayerMessageParser: Failed to decode Goalie Info [%s]",
msg );
return -1;
}
Vector2D goalie_pos;
AngleDeg goalie_body;
int player_number = Unum_Unknown;
Vector2D player_pos;
// 124 > 68/0.555 + 1
player_pos.y = ( ival % 124 ) * 0.555 - 34.0;
ival /= 124;
// 191 > 105/0.555 + 1
player_pos.x = ( ival % 191 ) * 0.555 - 52.5;
ival /= 191;
// 22
player_number = ( ival % 22 ) + 1;
ival /= 22;
goalie_body = static_cast< double >( ival % 360 - 180 );
ival /= 360;
goalie_pos.y = ( ival % 400 ) * 0.1 - 20.0;
ival /= 400;
goalie_pos.x = ( ival % 160 ) * 0.1 + ( 53.0 - 16.0 );
// ival /= 160;
dlog.addText( Logger::SENSOR,
"GoalieAndPlayerMessageParser: success! goalie pos=(%.2f %.2f) body=%.1f",
goalie_pos.x, goalie_pos.y, goalie_body.degree() );
dlog.addText( Logger::SENSOR,
"____ player number=%d pos=(%.2f %.2f)",
player_number, player_pos.x, player_pos.y );
M_memory->setOpponentGoalie( sender, goalie_pos, goalie_body, current );
M_memory->setPlayer( sender, player_number, player_pos, current );
return slength();
}
