Prepare the release package for 17.0.0 (#82)

* Modify the default value of server parameters for the version 17.0.0.

* Update the version number string. Add short descriptions in NEWS.

* Add cmake related files to the distribution target of automake.

* Update NEWS and README.md

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-project(RCSSServer VERSION 16.0.1)
+project(RCSSServer VERSION 17.0.0)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

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

@@ -10,7 +10,9 @@ SUBDIRS = \
 	.
 
 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 >= 1.44
-- 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 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.
 
-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.
+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:
 
-## Configuring
+```bash
+cd rcssserver-x.x.x
+mkdir build
+cd build
+cmake ..
+make
+```
 
-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.
+## :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:
 
@@ -56,58 +77,81 @@ 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
+```
+
+## :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. rcssserver will look in your home directory for the configuration files:
-
+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.
 
@@ -119,11 +163,13 @@ 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

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])

rcss/Makefile.am

@@ -13,6 +13,9 @@ AM_CFLAGS = -W -Wall
 AM_CXXFLAGS = -W -Wall
 AM_LDFLAGS =
 
+EXTRA_DIST = \
+	CMakeLists.txt
+
 CLEANFILES = \
 	*~ \
 	core

rcss/clang/Makefile.am

@@ -109,8 +109,10 @@ AM_FLEXFLEX=@AM_FLEXFLAGS@
 
 
 EXTRA_DIST = \
+	CMakeLists.txt \
 	coach_lang_parser.ypp \
-	coach_lang_tok.lpp
+	coach_lang_tok.lpp \
+	fix_lexer_file.cmake
 
 
 CLEANFILES = \

rcss/conf/Makefile.am

@@ -44,6 +44,9 @@ AM_CFLAGS = -W -Wall
 AM_CXXFLAGS = -W -Wall
 AM_LD_FLAGS =
 
+EXTRA_DIST = \
+	CMakeLists.txt
+
 CLEANFILES = \
 	*~ \
 	core

rcss/gzip/Makefile.am

@@ -40,6 +40,9 @@ AM_CFLAGS = -W -Wall
 AM_CXXFLAGS = -W -Wall
 AM_LDFLAGS =
 
+EXTRA_DIST = \
+	CMakeLists.txt
+
 CLEANFILES = \
 	*~ \
 	core

rcss/net/CMakeLists.txt

@@ -1,6 +1,5 @@
 add_library(RCSSNet SHARED
     addr.cpp
-    handler.cpp
     socket.cpp
     socketstreambuf.cpp
     tcpsocket.cpp

rcss/net/Makefile.am

@@ -49,6 +49,8 @@ AM_CFLAGS = -W -Wall
 AM_CXXFLAGS = -W -Wall
 AM_LDFLAGS =
 
+EXTRA_DIST = \
+	CMakeLists.txt
 
 CLEANFILES = \
 	*~ \

src/Makefile.am

@@ -206,6 +206,8 @@ AM_CXXFLAGS = -W -Wall
 
 
 EXTRA_DIST = \
+	CMakeLists.txt \
+	fix_lexer_file.cmake \
 	player_command_parser.ypp \
 	player_command_tok.lpp \
 	rcsoccersim.in

src/serverparam.cpp

@@ -351,9 +351,9 @@ const double ServerParam::MAX_DASH_ANGLE = +180.0;
 const double ServerParam::MIN_DASH_ANGLE = -180.0;
 const double ServerParam::DASH_ANGLE_STEP = 1.0; // [15.6.0] 45.0 -> 1.0 [14.0.0] 90.0 -> 45.0
 const double ServerParam::SIDE_DASH_RATE = 0.4; // [14.0.0] 0.25 -> 0.4
-const double ServerParam::BACK_DASH_RATE = 0.6; // [14.0.0] 0.5 -> 0.6
+const double ServerParam::BACK_DASH_RATE = 0.7; // [14.0.0] 0.5 -> 0.6 [17.0.0] 0.6 -> 0.7
 const double ServerParam::MAX_DASH_POWER = +100.0;
-const double ServerParam::MIN_DASH_POWER = -100.0;
+const double ServerParam::MIN_DASH_POWER = 0.0;
 
 // 14.0.0
 const double ServerParam::TACKLE_RAND_FACTOR = 2.0;
@@ -373,8 +373,8 @@ const double ServerParam::ILLEGAL_DEFENSE_WIDTH = 40.32;
 
 namespace {
 // 17.0.0
-constexpr double MAX_CATCH_ANGLE = +180.0;
-constexpr double MIN_CATCH_ANGLE = -180.0;
+constexpr double MAX_CATCH_ANGLE = +90.0;
+constexpr double MIN_CATCH_ANGLE = -90.0;
 }
 
 // XXX