robocup 2D仿真平台软件包

/* -*- Mode: C++ -*- *Header: *File: field.C *Author: Noda Itsuki *Date: 1996/01/28 *EndHeader: */ /* *Copyright: Copyright (C) 1996-2000 Electrotechnical Laboratory. Itsuki Noda, Yasuo Kuniyoshi and Hitoshi Matsubara. Copyright (C) 2000-2007 RoboCup Soccer Server Maintainance Group. Patrick Riley, Tom Howard, Daniel Polani, Itsuki Noda, Mikhail Prokopenko, Jan Wendler This file is a part of SoccerServer. This code is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA *EndCopyright: */  #ifdef HAVE_CONFIG_H #include "config.h" #endif #include "field.h" #include "param.h" #include "fallback.h" #include "types.h" #include "utility.h" #include "netif.h" #include "object.h" #include <cmath> #include <cstdio> #include <cstdlib> #include <cstring> #include <iostream> #ifdef HAVE_NETINET_IN_H #include <netinet/in.h> #endif #include <X11/Intrinsic.h> #include <X11/StringDefs.h> #include <X11/Shell.h> #include <X11/Xaw/Command.h> #include <X11/Xaw/Form.h> #include <X11/Xaw/Box.h> #include <X11/Xaw/AsciiText.h> #include "mark.RoboCup.grey.xbm" #define SMON_CONFIG ".rcssmonitor_classic" extern Stadium Std; static void Quit(void); static void Start(void); static void Update(void); Widget foulmenu; /* for Foul Panel Shell */ static void FoulMenuPlace( Widget w, XButtonEvent* ); static void FoulMenuCheck( void ); static void FoulPanelChosen( Widget w, XtPointer ); pos_t foul_pos; Widget discardmenu1; /* for Discard Left Team Player Panel Shell */ Widget discardmenu2; /* for Discard Right Team Player Panel Shell */ static void DiscardMenuPlace1( Widget w, XEvent* ); static void DiscardPanelChosen1( Widget w, XtPointer ); static void PopdownDiscardMenu1( Widget w ); static void DiscardMenuPlace2( Widget w, XEvent* ); static void DiscardPanelChosen2( Widget w, XtPointer ); static void PopdownDiscardMenu2( Widget w ); static XtActionsRec actions[] = { {"FoulMenuPlace", (XtActionProc)FoulMenuPlace}, {"FoulMenuCheck", (XtActionProc)FoulMenuCheck}, {"DiscardMenuPlace1", (XtActionProc)DiscardMenuPlace1}, {"DiscardMenuPlace2", (XtActionProc)DiscardMenuPlace2}, {"PopdownDiscardMenu1", (XtActionProc)PopdownDiscardMenu1}, {"PopdownDiscardMenu2", (XtActionProc)PopdownDiscardMenu2} }; #ifdef X11R5 static Arg Args[16]; static int Argn; #endif /* *=================================================================== *Part: Stadium *=================================================================== */ Stadium::Stadium() { plog = true; popup = false; playtime = -1; length_magnify = LENGTH_MAGNIFY; board_rows = BOARD_ROWS; std::strcpy( color_l, TEAM_L_COLOR ); std::strcpy( color_r, TEAM_R_COLOR ); std::strcpy( goalie_color_l, GOALIE_L_COLOR ); std::strcpy( goalie_color_r, GOALIE_R_COLOR ); std::strcpy( neck_color_l, NECK_L_COLOR ); std::strcpy( neck_color_r, NECK_R_COLOR ); std::strcpy( goalie_neck_color_l, GOALIE_NECK_L_COLOR ); std::strcpy( goalie_neck_color_r, GOALIE_NECK_R_COLOR ); std::strcpy( status_font, DEFAULT_STATUS_FONT); std::strcpy( glabel_font, DEFAULT_GOAL_LABEL_FONT ); glabel_width = DEFAULT_GOAL_LABEL_WIDTH; std::strcpy( gscore_font, DEFAULT_GOAL_SCORE_FONT ); gscore_width = DEFAULT_GOAL_SCORE_WIDTH; std::strcpy( olabel_font, DEFAULT_OFFSIDE_LABEL_FONT ); olabel_width = DEFAULT_OFFSIDE_LABEL_WIDTH; //std::strcpy( ball_file, DEFAULT_BALL_FILE_NAME ); std::strcpy( ball_file, "" ); psize = InDisplaySize(PLAYER_WIDGET_SIZE ); std::strcpy( pfont, DEFAULT_PLAYER_FONT ); pfont_x = DEFAULT_PLAYER_FONT_POS_X; pfont_y = DEFAULT_PLAYER_FONT_POS_Y; eval_flag = false; for ( int i = 0; i < MAX_PLAYER * 2; ++i ) { player_status[i] = false; } redraw = false; stamina_max = 4000; } Stadium::~Stadium() { std::cerr << "destruct Stadium" << std::endl; } void Stadium::init( int argc, char *argv[] ) { Widget top; static String fallback_resources[] = FALLBACK_RESOURCES; top = XtAppInitialize( &app_context, "Stadium", NULL, 0, &argc, argv, fallback_resources, NULL, 0 ); getOption( argc, argv ); view_dir = VIEW_FOR; assign( top ); XtRealizeWidget( top ); no_resize( top ); field.draw(); field.ball.assign(); if ( ! port.init() ) { std::cerr << __FILE__ << ": " << __LINE__ << ": Could not initialize port\n"; exit( 1 ); } XtAppAddInput( app_context, port.socketfd, (XtPointer)XtInputReadMask, (XtInputCallbackProc)Update, NULL ); } void Stadium::readConf( FILE* fp ) { option_t opt[] = { {"print_log", (void *)&plog, V_ONOFF}, {"host",(void *)&(port.host), V_STRING}, {"port",(void *)&(port.portnum), V_INT}, {"version",(void *)&(port.version), V_INT}, {"length_magnify",(void *)&(length_magnify), V_DOUBLE}, {"goal_width", (void *)&(field.gwidth), V_DOUBLE}, {"log_line", (void *)&board_rows, V_INT}, {"team_l_color", (void *)&color_l, V_STRING}, {"team_r_color", (void *)&color_r, V_STRING}, {"goalie_l_color", (void *)&goalie_color_l, V_STRING}, {"goalie_r_color", (void *)&goalie_color_r, V_STRING}, {"neck_l_color", (void *)&neck_color_l, V_STRING}, {"neck_r_color", (void *)&neck_color_r, V_STRING}, {"goalie_neck_l_color", (void *)&goalie_neck_color_l, V_STRING}, {"goalie_neck_r_color", (void *)&goalie_neck_color_r, V_STRING}, {"status_font", (void *)&status_font, V_STRING}, {"print_mark", (void *)&(field.pmark), V_ONOFF}, {"mark_file_name", (void *)&(field.mark_file), V_STRING}, {"ball_file_name", (void *)&(ball_file), V_STRING}, {"popup_msg", (void *)&popup, V_ONOFF}, {"goal_label_font", (void *)&glabel_font, V_STRING}, {"goal_label_width", (void *)&glabel_width, V_INT}, {"goal_score_font", (void *)&gscore_font, V_STRING}, {"goal_score_width", (void *)&gscore_width, V_INT}, {"offside_label_font", (void *)&olabel_font, V_STRING}, {"offside_label_width", (void *)&olabel_width, V_INT}, {"player_widget_size", (void *)&(psize), V_DOUBLE}, {"player_widget_font", (void *)&(pfont), V_STRING}, {"uniform_num_pos_x", (void *)&(pfont_x), V_INT}, {"uniform_num_pos_y", (void *)&(pfont_y), V_INT}, {"eval", (void *)&(eval_flag), V_ONOFF}, {"redraw_player", (void *)&(redraw), V_ONOFF}, {"\0", NULL, 0} }; char buf[MaxMesg]; char com[256]; char onoff[16]; while ( std::fgets( buf,MaxMesg,fp ) != NULL ) { /* ignore remark line */ if (buf[0] == '#' || buf[0] == '\n') continue; /* replace from ':' to ' ' */ char *r = buf; while(*r != NULLCHAR) { if (*r == ':') *r = ' '; r++; } int n = std::sscanf( buf, "%s", com ); if ( n < 1 ) { std::cerr << "Illegal line : " << buf; continue; } int p = 0; for ( p = 0; opt[p].vptr != NULL; ++p ) { if ( std::strcmp( com, opt[p].optname ) ) continue; /* match */ switch ( opt[p].vsize ) { case V_INT: n = std: