Official Release 17.0.0: Merge pull request #83 from rcsoccersim/develop

Official Release 17.0.0

CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.5.1)
+
+project(RCSSServer VERSION 17.0.0)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
+endif()
+set(CMAKE_CXX_FLAGS "-W -Wall")
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_INCLUDE_CURRENT_DIR_IN_INTERFACE ON)
+
+find_package(ZLIB REQUIRED)
+if(ZLIB_FOUND)
+  set(HAVE_LIBZ TRUE)
+endif()
+find_package(BISON REQUIRED)
+find_package(FLEX REQUIRED)
+find_package(Boost COMPONENTS system filesystem REQUIRED)
+
+include(GNUInstallDirs)
+include(CheckIncludeFileCXX)
+
+check_include_file_cxx("sys/socket.h" HAVE_SYS_SOCKET_H)
+check_include_file_cxx("sys/param.h" HAVE_SYS_PARAM_H)
+check_include_file_cxx("sys/time.h" HAVE_SYS_TIME_H)
+check_include_file_cxx("netinet/in.h" HAVE_NETINET_IN_H)
+check_include_file_cxx("arpa/inet.h" HAVE_ARPA_INET_H)
+check_include_file_cxx("netdb.h" HAVE_NETDB_H)
+check_include_file_cxx("unistd.h" HAVE_UNISTD_H)
+check_include_file_cxx("poll.h" HAVE_POLL_H)
+check_include_file_cxx("pwd.h" HAVE_PWD_H)
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake config.h)
+
+add_subdirectory(rcss)
+add_subdirectory(src)

ChangeLog

@@ -1,3 +1,12 @@
+2022-04-02  Hidehisa Akiyama  <[email protected]>
+
+	* CMakeLists.txt:
+	* NEWS:
+	* configure.ac:
+	- update a major version number. Official release 17.0.0
+	- improve the dash model and the catch model
+	- support a JSON-based monitor protocol.
+
 2021-07-20  Hidehisa Akiyama  <[email protected]>
 
 	* NEWS:

Makefile.am

@@ -5,12 +5,14 @@ libtool:	$(LIBTOOL_DEPS)
 	$(SHELL) ./config.status --recheck
 
 SUBDIRS = \
-	rcssbase \
+	rcss \
 	src \
 	.
 
 EXTRA_DIST = \
-	README.md
+	README.md \
+	CMakeLists.txt \
+	config.h.cmake
 
 CLEANFILES = \
 	*~ \

NEWS

@@ -1,3 +1,41 @@
+[17.0.0]
+  * New parameters:
+    - server::max_catch_angle (default value: 90.0)
+    - server::min_catch_angle (default value: -90.0)
+
+  * Changed parameters:
+    - server::min_dash_power (-100.0 -> 0)
+    - server::back_dash_rate (0.6 -> 0.7)
+
+  * Improvement of the catch model. The direction of goalie's catch
+    command has been restricted within [server::min_catch_angle,
+    server::max_catch_angle]. The default values are [-90.0, 90.0].
+	This setting means goalies cannot catch the ball behind them.
+
+  * Improvement of the dash model. server::min_dash_power is changed
+    from -100.0 to 0.0.  This means players cannot use the negative
+    power in order for them to accelerate backward.  If players would
+    like to accelerate backward, they need to use the omnidirectional
+    dash.  In connection with the change of the dash power,
+    server::back_dash_rate has been changed.
+
+  * Support a JSON-based monitor protocol. If the monitor tries to
+    connect to the server by the client version 5, the received
+    messages will be JSON. The format of the game log file (.rcg) has
+    also followed the monitor protocol. If the value of
+    server::game_log_version is 6, the content of the recorded game
+    log is a JSON array except for the header line.
+
+  * The installation destination of the library header files has been
+    unified under PREFIX/include/rcss. The location of the clang
+    parser library has been moved to prefix/include/rcss/clang.
+
+  * Support CMake. Thanks to gikari for providing his great
+    contribution on GitHub.
+
+  * Support C++11/14. Some environment-dependent implementations have
+    been replaced by the C++ standard library.
+
 [16.0.1]
   * Fix a bug of the length of half time caused by slow_down_factor.
 

README.md

@@ -7,47 +7,68 @@
 
 The RoboCup Soccer Simulator Server (rcssserver) is a research and educational tool for multi-agent systems and artificial intelligence. It allows 11 simulated autonomous robotic players to play soccer (football).
 
-## Quick Start
+For further reading, please check [the user's manual](https://rcsoccersim.readthedocs.io/).
 
+## :soccer: Quick Start
+
+rcssserver is implemented by C++14 and depends some libraries.
 Make sure you have the required dependencies installed on your system:
 
-- g++
-- make
-- boost
-- bison
+- g++ (which supports C++14)
+- autoconf
+- automake
+- libtool
 - flex
+- bison
+- boost >= 1.44
+
+In the case of Ubuntu 18.04 or 20.04, the following commands will resolve all dependencies:
+
+```
+sudo apt update
+sudo apt install build-essential automake autoconf libtool flex bison libboost-all-dev
+```
 
-Download the latest rcssserver release in the [releases section](https://github.com/rcsoccersim/rcssserver/releases). Extract it and from the rcssserver directory execute:
+Then, download the latest rcssserver tarball from the [releases section](https://github.com/rcsoccersim/rcssserver/releases).
+Extract it and from the rcssserver directory execute:
 
 ```bash
+tar xzvfp rcssserver-x.x.x.tar.gz
+cd rcssserver-x.x.x
 ./configure
 make
 ```
 
 This will build the necessary binaries to get you up and running.
+`rcssserver/src/rcssserver` is the binary for the simulator server.
 
-`rcssserver/src/rcssserver` is the binary for the simulator server. The simulator
-server manages the actual simulation and comunicates with client programs that
-control the simulated robots.  To be able to run, the binary needs to find shared
-libraries which are created when you build rcssserver.  This means you must either
-install the server (make install) or run it from `rcssserver/src`.
+The simulator server manages the actual simulation and comunicates with client programs that
+control the simulated robots.
+To be able to run, the binary needs to find shared libraries which are created when you build rcssserver.
+This means you must either install the server (make install) or run it from `rcssserver/src`.
 
 A sample client can be found at `rcssserver/src/rcssclient`.
 
 To see what is actually happening in the simulator, you will need to start a
-simulator monitor, which needs to be installed separately ([rcssmonitor](https://github.com/rcsoccersim/rcssmonitor),
-  rcssmonitor_classic, [soccerwindow2](https://osdn.net/projects/rctools/releases/p4886)
-  or any other third party monitor).
+simulator monitor, which needs to be installed separately ([rcssmonitor](https://github.com/rcsoccersim/rcssmonitor), or any other third party monitor).
 
-To playback games that that you have recorded or downloaded, you will need to
-start the log player such as [rcsslogplayer](https://github.com/rcsoccersim/rcsslogplayer),
-which must also be downloaded separately.
+To playback games that you have recorded or downloaded, you will need to start the log player.
+[rcssmonitor](https://github.com/rcsoccersim/rcssmonitor) can be used for this purpose.
 
-## Configuring
+The version 17.0.0 or later support [CMake](https://cmake.org/).
+If CMake is prefered or problems with the above procedure, try the following commands at the top of the project directory:
 
-Before you can build The RoboCup Soccer Simulator Server you will need to run
-the `configure` script located in the root of the distribution directory.
+```bash
+cd rcssserver-x.x.x
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## :gear: Configuring
 
+Before building rcssserver, you will need to run the `configure` script located in the root of the distribution directory.
 The default configuration will set up to install the server components in the
 following location:
 
@@ -56,74 +77,99 @@ following location:
 You may need administrator privileges to install the server into the default
 location.  This locations can be modified by using configure's `--prefix=DIR`
 and related options.  See `configure --help` for more details.
+```bash
+./configure --prefix=YOUR_INSTALLATION_DIR
+```
 
 The server has several features that can be enabled or disabled at configure time
 by using the `--enable-FEATURE[=ARG]` or `--disable-FEATURE` parameters to
 `configure`.  `--disable-FEATURE` is equivalent to `--enable-FEATURE=no` and
 `--enable-FEATURE` is equivalent to `--enable-FEATURE=yes`.  The only valid values
 for `ARG` are `yes` and `no`.
 
-`--enable-fast_scanner=yes` will enable a fast building but (very) large
-scanner for the coach language.  You will need to have `lex` or `flex` installed
-and you will need to manually remove the `coach_lang_tok.cc` file in the
-`rcssserver/src` directory. This is disabled by default. I found the actual
-speed of the parser show only minimal improvement when using this option on my
-system, but this may not be true on your system.  All I can suggest is to test it
-on your system and decide for yourself if the speed increase justifies the
-increase in size of the executable.
+`--enable-fast_scanner=yes` will enable a fast building but (very) large scanner for the coach language.
+You will need to have `flex` installed and you will need to manually remove the `coach_lang_tok.cpp` file in the `rcssserver/rcss/clang` directory.
+This is disabled by default.
+I found the actual speed of the parser show only minimal improvement when using this option on my system, but this may not be true on your system.
+All I can suggest is to test it on your system and decide for yourself if the speed increase justifies the increase in size of the executable.
 
 `--enable-rcssclient=yes` will enable the building of rcssclient, a sample
 client program.  This is enabled by default.
 
 `--enable-debug=yes` will enable the building of the modules with debugging
 information.  This is disabled by default.
 
+Once you have successfully configured the monitor, simply run `make` to build the sources.
 
-## Building
+If CMake is chosen, `ccmake` command is available for the configuration:
+```bash
+cd build
+ccmake ..
+```
+
+## :hammer_and_wrench: Building
 
 Once you have successfully configured the server, simply run `make` to build
 the sources.
 
-## Installing
+## :package: Installing
 
 When you have completed building the server, its components can be installed
 into their default locations or the locations specified during configuring by
-running `make install`.  Depending on where you are installing the
-server, you may need special permissions.
+running
+```bash
+make install
+```
+Depending on where you are installing the server, you may need special permissions.
 
-## Uninstalling
+## :wastebasket: Uninstalling
 
 The server can also be easily removed by entering the distribution directory and
-running `make uninstall`.  This will remove all the files that where installed,
+running
+```bash
+make uninstall
+```
+
+This will remove all the files that where installed,
 but not any directories that were created during the installation process.
 
-## Using the Server
+In the case of CMake, find `install_manifest.txt` under the build directory, then execute:
+```bash
+xargs rm < install_manifest.txt
+```
 
-To start only the server either type `./rcssserver` from the directory 
-containing the executable or `rcssserver` if you installed the executables 
-in your PATH. rcssserver will look in your home directory for the configuration files:
+## :arrow_forward: Using the Server
 
+To start only the server either type `./rcssserver` from the directory
+containing the executable or `rcssserver` if you installed the executables
+in your PATH.
 ```bash
-~/.rcssserver/server.conf
-~/.rcssserver/player.conf
-~/.rcssserver-landmark.xml # (optional)
+rcssserver
 ```
+rcssserver will look in your home directory for the configuration files:
+
+- ~/.rcssserver/server.conf
+- ~/.rcssserver/player.conf
+- ~/.rcssserver/CSVSaver.conf
+- ~/.rcssserver-landmark.xml  (optional)
 
 If these files do not exist they will be created and populated with default values.
 
-To start the sample client, type `./rcssclient` or `rcssclient` as above.  Then type 
-`(init sample)`.  This will connect the sample client to the server.  You can then 
-type in client command to move the client around the field. You will also need a 
+To start the sample client, type `./rcssclient` or `rcssclient` as above.  Then type
+`(init sample)`.  This will connect the sample client to the server.  You can then
+type in client command to move the client around the field. You will also need a
 monitor to be able to see whats happening on the field.
 
 If you installed the server and the monitor successfully, you can use the
 `rcsoccersim` script. To start the simulator (server and monitor) either type:
 
-`rcsoccersim`
-
+```bash
+rcsoccersim
+```
 
-## Contributing
+## :incoming_envelope: Contributing
 
-For bug reports, feature requests and latest updates, please open an issue or a pull request.
+For bug reports, feature requests and latest updates, please goto
+https://github.com/rcsoccersim/rcssserver and open an issue or a pull request.
 
 > The RoboCup Soccer Server Maintainance Group

config.h.cmake

@@ -0,0 +1,18 @@
+#define VERSION "${PROJECT_VERSION}"
+#define PACKAGE "rcssserver"
+
+#cmakedefine HAVE_LIBZ 1
+#cmakedefine HAVE_SYS_SOCKET_H 1
+#cmakedefine HAVE_NETINET_IN_H 1
+#cmakedefine HAVE_ARPA_INET_H 1
+#cmakedefine HAVE_POLL_H 1
+#cmakedefine HAVE_NETDB_H 1
+#cmakedefine HAVE_SYS_TIME_H 1
+#cmakedefine HAVE_PWD_H 1
+#cmakedefine HAVE_SYS_PARAM_H 1
+#cmakedefine HAVE_UNISTD_H 1
+#cmakedefine HAVE_SYS_TYPES_H 1
+#cmakedefine HAVE_STDINT_H 1
+#cmakedefine HAVE_STDDEF_H 1
+
+#define HAVE_SOCKLEN_T 1

configure.ac

@@ -3,7 +3,7 @@
 
 AC_PREREQ(2.61)
 LT_PREREQ([2.2])
-AC_INIT([RCSSServer],[16.0.1],[[email protected]],[rcssserver])
+AC_INIT([RCSSServer],[17.0.0],[https://github.com/rcsoccersim/],[rcssserver])
 
 #AM_INIT_AUTOMAKE([gnu 1.7.2 check-news dist-bzip2 dist-zip])
 AM_INIT_AUTOMAKE([gnu 1.7.2 check-news foreign])
@@ -34,18 +34,13 @@ AC_PROG_MAKE_SET
 AC_CHECK_LIB([m], [cos])
 dnl AC_CHECK_LIB(expat, XML_Parse)
 #AC_CHECK_LIB([z], [deflate])
-AC_SUBST(GZ_LIBS)
-AC_CHECK_LIB([z], [deflate],
-             [AC_DEFINE([HAVE_LIBZ], [1],
-                        [Define to 1 if you have the `z' library (-lz).])
-              GZ_LIBS="-lz"])
-
-AC_ARG_WITH(sstream,
-        AS_HELP_STRING(--with-sstream,use sstream instead of strstream (default=yes)),
-                       use_sstream=$withval, use_sstream=yes)
-if test "$use_sstream" = "yes"; then
-   AC_CXX_HAVE_SSTREAM
-fi
+#AC_SUBST(GZ_LIBS)
+#AC_CHECK_LIB([z], [deflate],
+#             [AC_DEFINE([HAVE_LIBZ], [1],
+#                        [Define to 1 if you have the `z' library (-lz).])
+#              GZ_LIBS="-lz"])
+AX_CHECK_ZLIB([],
+              [AC_MSG_NOTICE(Zlib not found.)])
 
 ##################################################
 # Checks for header files.
@@ -250,10 +245,11 @@ fi
 ##################################################
 
 AC_CONFIG_FILES([Makefile
-                rcssbase/Makefile
-                rcssbase/net/Makefile
-                rcssbase/conf/Makefile
-                rcssbase/gzip/Makefile
+                rcss/Makefile
+                rcss/net/Makefile
+                rcss/conf/Makefile
+                rcss/gzip/Makefile
+                rcss/clang/Makefile
                 src/Makefile
                 src/rcsoccersim],
                 [test -f src/rcsoccersim && chmod +x src/rcsoccersim])