Merge pull request #145 from rcsoccersim/v19-develop

Implement v19 features
rcsoccersim · Mar 24, 2024 · b085a3b · b085a3b
2 parents 47b1d4a + e50d00d
commit b085a3b
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Showing 32 changed files with 1,140 additions and 625 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -37,6 +37,7 @@ add_executable(RCSSServer
     initsenderonlinecoach.cpp
     initsenderplayer.cpp
     landmarkreader.cpp
+	leg.cpp
     logger.cpp
     main.cpp
     monitor.cpp
@@ -94,7 +95,6 @@ target_link_libraries(RCSSServer
     RCSS::ConfParser
     RCSS::Net
     RCSS::GZ
-#    Boost::filesystem
     ZLIB::ZLIB
 	)
 

diff --git a/src/Makefile.am b/src/Makefile.am
@@ -20,6 +20,7 @@ rcssserver_SOURCES = \
 	initsenderonlinecoach.cpp \
 	initsenderplayer.cpp \
 	landmarkreader.cpp \
+	leg.cpp \
 	logger.cpp \
 	main.cpp \
 	monitor.cpp \
@@ -90,6 +91,7 @@ noinst_HEADERS = \
 	initsenderonlinecoach.h \
 	initsenderplayer.h \
 	landmarkreader.h \
+	leg.h \
 	logger.h \
 	monitor.h \
 	observer.h \

diff --git a/src/audio.cpp b/src/audio.cpp
@@ -985,6 +985,7 @@ RegHolder vp15 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlaye
 RegHolder vp16 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlayerv8 >, 16 );
 RegHolder vp17 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlayerv8 >, 17 );
 RegHolder vp18 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlayerv8 >, 18 );
+RegHolder vp19 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlayerv8 >, 19 );
 
 template< typename Sender >
 AudioSender::Ptr
@@ -1011,6 +1012,7 @@ RegHolder vc15 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv
 RegHolder vc16 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv7 >, 16 );
 RegHolder vc17 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv7 >, 17 );
 RegHolder vc18 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv7 >, 18 );
+RegHolder vc19 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv7 >, 19 );
 
 template< typename Sender >
 AudioSender::Ptr
@@ -1037,5 +1039,6 @@ RegHolder voc15 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSende
 RegHolder voc16 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSenderOnlineCoachv7 >, 16 );
 RegHolder voc17 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSenderOnlineCoachv7 >, 17 );
 RegHolder voc18 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSenderOnlineCoachv7 >, 18 );
+RegHolder voc19 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSenderOnlineCoachv7 >, 19 );
 }
 }
diff --git a/src/bodysender.cpp b/src/bodysender.cpp
@@ -438,6 +438,7 @@ RegHolder vp15 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV
 RegHolder vp16 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV14 >, 16 );
 RegHolder vp17 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV14 >, 17 );
 RegHolder vp18 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV18 >, 18 );
+RegHolder vp19 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV18 >, 19 );
 }
 
 }
diff --git a/src/fullstatesender.cpp b/src/fullstatesender.cpp
@@ -541,6 +541,7 @@ RegHolder vp15 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSen
 RegHolder vp16 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV13 >, 16 );
 RegHolder vp17 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV13 >, 17 );
 RegHolder vp18 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV18 >, 18 );
+RegHolder vp19 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV18 >, 19 );
 }
 
 }
diff --git a/src/heteroplayer.cpp b/src/heteroplayer.cpp
@@ -124,6 +124,8 @@ HeteroPlayer::HeteroPlayer()
 
         setDefaultObservationParams();
 
+        setDefaultGaussianObservationParams();
+
         //
         double real_speed_max
             = ( SP.maxPower() * M_dash_power_rate * M_effort_max )
@@ -237,6 +239,9 @@ HeteroPlayer::setDefault()
 
     // v18
     setDefaultObservationParams();
+
+    // v19
+    setDefaultGaussianObservationParams();
 }
 
 void
@@ -252,10 +257,22 @@ HeteroPlayer::setDefaultObservationParams()
     M_ball_vel_far_length = 20.0;
     M_ball_vel_too_far_length = 40.0;
     M_ball_max_observation_length = maximum_dist_in_pitch;
-    M_flag_chg_far_length = 20.0;
-    M_flag_chg_too_far_length = 40.0;
+    M_land_vel_far_length = 20.0;
+    M_land_vel_too_far_length = 40.0;
     M_flag_max_observation_length = maximum_dist_in_pitch;
 }
+
+void
+HeteroPlayer::setDefaultGaussianObservationParams()
+{
+    const ServerParam & SP = ServerParam::instance();
+
+    M_dist_noise_rate = SP.distNoiseRate();
+    M_focus_dist_noise_rate = SP.focusDistNoiseRate();
+    M_land_dist_noise_rate = SP.landDistNoiseRate();
+    M_land_focus_dist_noise_rate = SP.landFocusDistNoiseRate();
+}
+
 std::ostream &
 HeteroPlayer::print( std::ostream & o ) const
 {
@@ -286,10 +303,14 @@ HeteroPlayer::print( std::ostream & o ) const
     o << "\tBall Vel Far Length = " << ballVelFarLength() << '\n';
     o << "\tBall Vel Too Far Length = " << ballVelTooFarLength() << '\n';
     o << "\tBall Max Observation Length = " << ballMaxObservationLength() << '\n';
-    o << "\tFlag Chg Far Length = " << flagChgFarLength() << '\n';
-    o << "\tFlag Chg Too Far Length = " << flagChgTooFarLength() << '\n';
-    o << "\tFlag Max Observation Length = " << flagMaxObservationLength() << std::endl;
-
+    o << "\tFlag Chg Far Length = " << landVelFarLength() << '\n';
+    o << "\tFlag Chg Too Far Length = " << landVelTooFarLength() << '\n';
+    o << "\tFlag Max Observation Length = " << landMaxObservationLength() << '\n';
+    o << "\tDist Noise Rate = " << distNoiseRate() << '\n';
+    o << "\tFocus Dist Noise Rate = " << focusDistNoiseRate() << '\n';
+    o << "\tLand Dist Noise Rate = " << landDistNoiseRate() << '\n';
+    o << "\tLand Focus Dist Noise Rate = " << landFocusDistNoiseRate() << std::endl;
+
     return o;
 }
 
@@ -379,16 +400,27 @@ HeteroPlayer::printParamsSExp( std::ostream & o,
     to_sexp( o, "ball_vel_far_length", ballVelFarLength() );
     to_sexp( o, "ball_vel_too_far_length", ballVelTooFarLength() );
     to_sexp( o, "ball_max_observation_length", ballMaxObservationLength() );
-    to_sexp( o, "flag_chg_far_length", flagChgFarLength() );
-    to_sexp( o, "flag_chg_too_far_length", flagChgTooFarLength() );
-    to_sexp( o, "flag_max_observation_length", flagMaxObservationLength() );
+    to_sexp( o, "flag_chg_far_length", landVelFarLength() );
+    to_sexp( o, "flag_chg_too_far_length", landVelTooFarLength() );
+    to_sexp( o, "flag_max_observation_length", landMaxObservationLength() );
+
+    if ( version < 19 )
+    {
+        return;
+    }
+
+    to_sexp( o, "dist_noise_rate", distNoiseRate() );
+    to_sexp( o, "focus_dist_noise_rate", focusDistNoiseRate() );
+    to_sexp( o, "land_dist_noise_rate", landDistNoiseRate() );
+    to_sexp( o, "land_focus_dist_noise_rate", landFocusDistNoiseRate() );
 }
 
 
 void
 HeteroPlayer::printParamsJSON( std::ostream & o,
                                const unsigned int version ) const
 {
+    o << ',';
     to_json_member( o, "player_speed_max", playerSpeedMax() );
     o << ',';
     to_json_member( o, "stamina_inc_max",  staminaIncMax() );
@@ -438,10 +470,21 @@ HeteroPlayer::printParamsJSON( std::ostream & o,
         o << ",";
         to_json_member( o, "ball_max_observation_length", ballMaxObservationLength() );
         o << ",";
-        to_json_member( o, "flag_chg_far_length", flagChgFarLength() );
+        to_json_member( o, "flag_chg_far_length", landVelFarLength() );
+        o << ",";
+        to_json_member( o, "flag_chg_too_far_length", landVelTooFarLength() );
+        o << ",";
+        to_json_member( o, "flag_max_observation_length", landMaxObservationLength() );
+    }
+    if ( version >= 19 )
+    {
+        o << ",";
+        to_json_member( o, "dist_noise_rate", distNoiseRate() );
+        o << ",";
+        to_json_member( o, "focus_dist_noise_rate", focusDistNoiseRate() );
         o << ",";
-        to_json_member( o, "flag_chg_too_far_length", flagChgTooFarLength() );
+        to_json_member( o, "land_dist_noise_rate", landDistNoiseRate() );
         o << ",";
-        to_json_member( o, "flag_max_observation_length", flagMaxObservationLength() );
+        to_json_member( o, "land_focus_dist_noise_rate", landFocusDistNoiseRate() );
     }
 }
diff --git a/src/heteroplayer.h b/src/heteroplayer.h
@@ -66,9 +66,14 @@ class HeteroPlayer {
     double ballVelFarLength() const { return M_ball_vel_far_length; }
     double ballVelTooFarLength() const { return M_ball_vel_too_far_length; }
     double ballMaxObservationLength() const { return M_ball_max_observation_length; }
-    double flagChgFarLength() const { return M_flag_chg_far_length; }
-    double flagChgTooFarLength() const { return M_flag_chg_too_far_length; }
-    double flagMaxObservationLength() const { return M_flag_max_observation_length; }
+    double landVelFarLength() const { return M_land_vel_far_length; }
+    double landVelTooFarLength() const { return M_land_vel_too_far_length; }
+    double landMaxObservationLength() const { return M_flag_max_observation_length; }
+
+    double distNoiseRate() const { return M_dist_noise_rate; }
+    double focusDistNoiseRate() const { return M_focus_dist_noise_rate; }
+    double landDistNoiseRate() const { return M_land_dist_noise_rate; }
+    double landFocusDistNoiseRate() const { return M_land_focus_dist_noise_rate; }
 
     std::ostream & print( std::ostream & o ) const;
 
@@ -86,6 +91,8 @@ class HeteroPlayer {
 
     void setDefaultObservationParams();
 
+    void setDefaultGaussianObservationParams();
+
     double M_player_speed_max;
     double M_stamina_inc_max;
     double M_player_decay;
@@ -112,9 +119,15 @@ class HeteroPlayer {
     double M_ball_vel_far_length;
     double M_ball_vel_too_far_length;
     double M_ball_max_observation_length;
-    double M_flag_chg_far_length;
-    double M_flag_chg_too_far_length;
+    double M_land_vel_far_length;
+    double M_land_vel_too_far_length;
     double M_flag_max_observation_length;
+
+    // v19
+    double M_dist_noise_rate;
+    double M_focus_dist_noise_rate;
+    double M_land_dist_noise_rate;
+    double M_land_focus_dist_noise_rate;
 };
 
 inline

diff --git a/src/initsendercoach.cpp b/src/initsendercoach.cpp
@@ -223,6 +223,7 @@ RegHolder vc15 = InitSenderOfflineCoach::factory().autoReg( &create< InitSenderO
 RegHolder vc16 = InitSenderOfflineCoach::factory().autoReg( &create< InitSenderOfflineCoachV8 >, 16 );
 RegHolder vc17 = InitSenderOfflineCoach::factory().autoReg( &create< InitSenderOfflineCoachV8 >, 17 );
 RegHolder vc18 = InitSenderOfflineCoach::factory().autoReg( &create< InitSenderOfflineCoachV8 >, 18 );
+RegHolder vc19 = InitSenderOfflineCoach::factory().autoReg( &create< InitSenderOfflineCoachV8 >, 19 );
 }
 
 }
diff --git a/src/initsenderlogger.cpp b/src/initsenderlogger.cpp
@@ -545,21 +545,22 @@ InitSenderLoggerJSON::~InitSenderLoggerJSON()
 void
 InitSenderLoggerJSON::sendHeader()
 {
-    transport() << "JSON\n";
+    //transport() << "JSON\n";
     transport() << "[\n";
 
-    transport() << '{'
-                << std::quoted( "type" ) << ':' << std::quoted( "header" );
+    // transport() << '{'
+    //             << std::quoted( "type" ) << ':' << std::quoted( "header" );
 
-    transport() << ','
-                << std::quoted( "version" ) << ':' << std::quoted( VERSION );
+    transport() << '{'
+                << std::quoted( "version" ) << ':' << std::quoted( VERSION )
+                << "}";
 
+    transport() << ",\n";
     const std::time_t t = stadium().getStartTime();
-    transport() << ','
+    transport() << '{'
                 << std::quoted( "timestamp" ) << ':'
-                << '"' << std::put_time( std::localtime( &t ), "%FT%T%z" ) << '"';
-
-    transport() << '}';
+                << '"' << std::put_time( std::localtime( &t ), "%FT%T%z" ) << '"'
+                << '}';
 }
 
 
@@ -610,7 +611,7 @@ RegHolder vl2 = InitSenderLogger::factory().autoReg( &create< InitSenderLoggerV2
 RegHolder vl3 = InitSenderLogger::factory().autoReg( &create< InitSenderLoggerV3 >, 3 );
 RegHolder vl4 = InitSenderLogger::factory().autoReg( &create< InitSenderLoggerV4 >, 4 );
 RegHolder vl5 = InitSenderLogger::factory().autoReg( &create< InitSenderLoggerV5 >, 5 );
-RegHolder vl7 = InitSenderLogger::factory().autoReg( &create< InitSenderLoggerV6 >, 6 );
+RegHolder vl6 = InitSenderLogger::factory().autoReg( &create< InitSenderLoggerV6 >, 6 );
 
 RegHolder vljson = InitSenderLogger::factory().autoReg( &create< InitSenderLoggerJSON >, -1 );
 

diff --git a/src/initsenderonlinecoach.cpp b/src/initsenderonlinecoach.cpp
@@ -302,6 +302,7 @@ RegHolder voc15 = InitSenderOnlineCoach::factory().autoReg( &create< InitSenderO
 RegHolder voc16 = InitSenderOnlineCoach::factory().autoReg( &create< InitSenderOnlineCoachV8 >, 16 );
 RegHolder voc17 = InitSenderOnlineCoach::factory().autoReg( &create< InitSenderOnlineCoachV8 >, 17 );
 RegHolder voc18 = InitSenderOnlineCoach::factory().autoReg( &create< InitSenderOnlineCoachV8 >, 18 );
+RegHolder voc19 = InitSenderOnlineCoach::factory().autoReg( &create< InitSenderOnlineCoachV8 >, 19 );
 }
 
 }
diff --git a/src/initsenderplayer.cpp b/src/initsenderplayer.cpp
@@ -283,6 +283,7 @@ RegHolder vp15 = InitSenderPlayer::factory().autoReg( &create< InitSenderPlayerV
 RegHolder vp16 = InitSenderPlayer::factory().autoReg( &create< InitSenderPlayerV8 >, 16 );
 RegHolder vp17 = InitSenderPlayer::factory().autoReg( &create< InitSenderPlayerV8 >, 17 );
 RegHolder vp18 = InitSenderPlayer::factory().autoReg( &create< InitSenderPlayerV8 >, 18 );
+RegHolder vp19 = InitSenderPlayer::factory().autoReg( &create< InitSenderPlayerV8 >, 19 );
 }
 
 }