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OxsyLibrary.h
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OxsyLibrary.h
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#ifndef __LIBRARY_H__
#define __LIBRARY_H__
#ifdef WIN32
#include <winsock2.h>
#else // _LINUX
#include <stdlib.h>
#include <string.h>
#include <netdb.h>
#include <arpa/inet.h>
#endif
#include <stdio.h>
#include <math.h>
#include <vector>
// --------------------------------- Default Parameters --------------------------------
#define USE_DEFAULT_PARAMETERS true
// #define SERVER_PARAMETERS 152 // server version 9.2.4 ->
// #define SERVER_PARAMETERS 166 // server version 9.3.2 ->
// #define SERVER_PARAMETERS 168 // server version 9.4.5 ->
#define SERVER_PARAMETERS 167 // server version 10.0.4 ->
#define PLAYER_PARAMETERS 23
#define PLAYER_TYPE_PARAMETERS 12
// server parameters
// int
#define DEFAULT_CATCH_BAN_CYCLE 5
#define DEFAULT_CLANG_ADVICE_WIN 1
#define DEFAULT_CLANG_DEFINE_WIN 1
#define DEFAULT_CLANG_DEL_WIN 1
#define DEFAULT_CLANG_INFO_WIN 1
#define DEFAULT_CLANG_MESS_DELAY 50
#define DEFAULT_CLANG_MESS_PER_CYCLE 1
#define DEFAULT_CLANG_META_WIN 1
#define DEFAULT_CLANG_RULE_WIN 1
#define DEFAULT_CLANG_WIN_SIZE 300
#define DEFAULT_COACH_PORT 6001
#define DEFAULT_CONNECT_WAIT 300
#define DEFAULT_DROP_BALL_TIME 200
#define DEFAULT_FREEFORM_SEND_PERIOD 20
#define DEFAULT_FREEFORM_WAIT_PERIOD 600
#define DEFAULT_GAME_LOG_COMPRESSION 0
#define DEFAULT_GAME_LOG_VERSION 3
#define DEFAULT_GAME_OVER_WAIT 100
#define DEFAULT_GOALIE_MAX_MOVES 2
#define DEFAULT_HALF_TIME 3000
#define DEFAULT_HEAR_DECAY 1 // 2
#define DEFAULT_HEAR_INC 1
#define DEFAULT_HEAR_MAX 1 // 2
#define DEFAULT_KEEPAWAY_START -1
#define DEFAULT_KICK_OFF_WAIT 100
#define DEFAULT_MAX_GOAL_KICKS 3
#define DEFAULT_NR_EXTRA_HALFS 2 // server version 9.3.2
#define DEFAULT_NR_NORMAL_HALFS 2 // server version 9.3.2
#define DEFAULT_OLCOACH_PORT 6002
#define DEFAULT_PEN_BEFORE_SETUP_WAIT 30 // server version 9.3.2
#define DEFAULT_PEN_MAX_EXTRA_KICKS 10 // server version 9.3.2
#define DEFAULT_PEN_NR_KICKS 5 // server version 9.3.2
#define DEFAULT_PEN_READY_WAIT 5 // server version 9.3.2
#define DEFAULT_PEN_SETUP_WAIT 100 // server version 9.3.2
#define DEFAULT_PEN_TAKEN_WAIT 100 // server version 9.3.2
#define DEFAULT_POINT_TO_BAN 5
#define DEFAULT_POINT_TO_DURATION 20
#define DEFAULT_PORT 6000
#define DEFAULT_RECV_STEP 10
#define DEFAULT_SAY_COACH_CNT_MAX 128
#define DEFAULT_SAY_COACH_MSG_SIZE 128
#define DEFAULT_SAY_MSG_SIZE 10 // 512
#define DEFAULT_SEND_STEP 150
#define DEFAULT_SEND_VI_STEP 100
#define DEFAULT_SENSE_BODY_STEP 100
#define DEFAULT_SIMULATOR_STEP 100
#define DEFAULT_SLOW_DOWN_FACTOR 1
#define DEFAULT_START_GOAL_L 0
#define DEFAULT_START_GOAL_R 0
#define DEFAULT_SYNCH_MICRO_SLEEP 1
#define DEFAULT_SYNCH_OFFSET 60
#define DEFAULT_TACKLE_CYCLES 10
#define DEFAULT_TEXT_LOG_COMPRESSION 0
// char
#define DEFAULT_GAME_LOG_DIR "./"
#define DEFAULT_GAME_LOG_FIXED_NAME "rcssserver"
#define DEFAULT_KEEPAWAY_LOG_DIR "./"
#define DEFAULT_KEEPAWAY_LOG_FIXED_NAME "rcssserver"
#define DEFAULT_LANDMARK_FILE "~/.rcssserver-landmark.xml"
#define DEFAULT_LOG_DATE_FORMAT "%Y-%m-%d_%H:%M-"
#define DEFAULT_MODULE_DIR "/usr/local/share/rcssserver/modules"
#define DEFAULT_TEAM_L_START ""
#define DEFAULT_TEAM_R_START ""
#define DEFAULT_TEXT_LOG_DIR "./"
#define DEFAULT_TEXT_LOG_FIXED_NAME "rcssserver"
// bool
#define DEFAULT_COACH false
#define DEFAULT_COACH_W_REFEREE false
#define DEFAULT_OLD_COACH_HEAR false
#define DEFAULT_WIND_NONE false
#define DEFAULT_WIND_RANDOM false
#define DEFAULT_AUTO_MODE false
#define DEFAULT_BACK_PASSES true
#define DEFAULT_FORBID_KICK_OFF_OFFSIDE true
#define DEFAULT_FREE_KICK_FAULTS true
#define DEFAULT_FULLSTATE_L false
#define DEFAULT_FULLSTATE_R false
#define DEFAULT_GAME_LOG_DATED false
#define DEFAULT_GAME_LOG_FIXED false
#define DEFAULT_GAME_LOGGING false
#define DEFAULT_KEEPAWAY false
#define DEFAULT_KEEPAWAY_LOG_DATED true
#define DEFAULT_KEEPAWAY_LOG_FIXED false
#define DEFAULT_KEEPAWAY_LOGGING true
#define DEFAULT_LOG_TIMES false
#define DEFAULT_PEN_ALLOW_MULT_KICKS false // server version 9.3.2
#define DEFAULT_PEN_COACH_MOVES_PLAYERS true
#define DEFAULT_PEN_RANDOM_WINNER false // server version 9.3.2
#define DEFAULT_PEN_SHOOT_OUTS true // server version 9.3.2
#define DEFAULT_PROFILE false
#define DEFAULT_PROPER_GOAL_KICKS false
#define DEFAULT_RECORD_MESSAGES false
#define DEFAULT_SEND_COMMS false
#define DEFAULT_SYNCH_MODE false
#define DEFAULT_TEAM_ACTUATOR_NOISE false
#define DEFAULT_TEXT_LOG_DATED false
#define DEFAULT_TEXT_LOG_FIXED false
#define DEFAULT_TEXT_LOGGING false
#define DEFAULT_USE_OFFSIDE true
#define DEFAULT_VERBOSE false
// double
#define DEFAULT_AUDIO_CUT_DIST 50.0
#define DEFAULT_BALL_ACCEL_MAX 2.7
#define DEFAULT_BALL_DECAY 0.94
#define DEFAULT_BALL_RAND 0.05
#define DEFAULT_BALL_SIZE 0.085
#define DEFAULT_BALL_SPEED_MAX 2.7
#define DEFAULT_BALL_WEIGHT 0.2
#define DEFAULT_CATCH_PROBABILITY 1.0
#define DEFAULT_CATCHABLE_AREA_L 2.0
#define DEFAULT_CATCHABLE_AREA_W 1.0
#define DEFAULT_CKICK_MARGIN 1.0
#define DEFAULT_CONTROL_RADIUS 2.0
#define DEFAULT_DASH_POWER_RATE 0.006
#define DEFAULT_EFFORT_DEC 0.005
#define DEFAULT_EFFORT_DEC_THR 0.3
#define DEFAULT_EFFORT_INC 0.01
#define DEFAULT_EFFORT_INC_THR 0.6
#define DEFAULT_EFFORT_INIT 1.0 // pms
#define DEFAULT_EFFORT_MAX DEFAULT_EFFORT_INIT // pms
#define DEFAULT_EFFORT_MIN 0.6
#define DEFAULT_GOAL_WIDTH 14.02
#define DEFAULT_INERTIA_MOMENT 5.0
#define DEFAULT_KEEPAWAY_LENGTH 20.0
#define DEFAULT_KEEPAWAY_WIDTH 20.0
#define DEFAULT_KICK_POWER_RATE 0.027
#define DEFAULT_KICK_RAND 0.0
#define DEFAULT_KICK_RAND_FACTOR_L 1.0
#define DEFAULT_KICK_RAND_FACTOR_R 1.0
#define DEFAULT_KICKABLE_MARGIN 0.7
#define DEFAULT_MAXMOMENT 180.0
#define DEFAULT_MAXNECKANG 90.0
#define DEFAULT_MAXNECKMOMENT 180.0
#define DEFAULT_MAXPOWER 100.0
#define DEFAULT_MINMOMENT -180.0
#define DEFAULT_MINNECKANG -90.0
#define DEFAULT_MINNECKMOMENT -180.0
#define DEFAULT_MINPOWER -100.0
#define DEFAULT_OFFSIDE_ACTIVE_AREA_SIZE 5.0
#define DEFAULT_OFFSIDE_KICK_MARGIN 9.15
#define DEFAULT_PEN_DIST_X 11.0 // server version 9.3.2
#define DEFAULT_PEN_MAX_GOALIE_DIST_X 4.0 // server version 9.3.2
#define DEFAULT_PLAYER_ACCEL_MAX 1.0
#define DEFAULT_PLAYER_DECAY 0.4
#define DEFAULT_PLAYER_RAND 0.1
#define DEFAULT_PLAYER_SIZE 0.3
#define DEFAULT_PLAYER_SPEED_MAX 1.2 // 1.0
#define DEFAULT_PLAYER_WEIGHT 60.0
#define DEFAULT_PRAND_FACTOR_L 1.0
#define DEFAULT_PRAND_FACTOR_R 1.0
#define DEFAULT_QUANTIZE_STEP 0.1
#define DEFAULT_QUANTIZE_STEP_L 0.01
#define DEFAULT_RECOVER_DEC 0.002
#define DEFAULT_RECOVER_DEC_THR 0.3
#define DEFAULT_RECOVER_INIT 1.0 // server version 9.3.2
#define DEFAULT_RECOVER_MIN 0.5
#define DEFAULT_SLOWNESS_ON_TOP_FOR_LEFT_TEAM 1.0
#define DEFAULT_SLOWNESS_ON_TOP_FOR_RIGHT_TEAM 1.0
#define DEFAULT_STAMINA_INC_MAX 45.0
#define DEFAULT_STAMINA_MAX 4000.0
#define DEFAULT_STOPPED_BALL_VEL 0.01
#define DEFAULT_TACKLE_BACK_DIST 0.5
#define DEFAULT_TACKLE_DIST 2.0 // 2.5
#define DEFAULT_TACKLE_EXPONENT 6.0
#define DEFAULT_TACKLE_POWER_RATE 0.027
#define DEFAULT_TACKLE_WIDTH 1.0 // 1.25
#define DEFAULT_VISIBLE_ANGLE 90.0
#define DEFAULT_VISIBLE_DISTANCE 3.0
#define DEFAULT_WIND_ANG 0.0
#define DEFAULT_WIND_DIR 0.0
#define DEFAULT_WIND_FORCE 0.0
#define DEFAULT_WIND_RAND 0.0
// additional double
#define DEFAULT_COLLISION_AREA (DEFAULT_PLAYER_SIZE + DEFAULT_BALL_SIZE)
#define DEFAULT_MIDDLE_AREA (DEFAULT_PLAYER_SIZE + DEFAULT_BALL_SIZE + DEFAULT_KICKABLE_MARGIN / 2.0)
#define DEFAULT_KICKABLE_AREA (DEFAULT_PLAYER_SIZE + DEFAULT_BALL_SIZE + DEFAULT_KICKABLE_MARGIN)
#define DEFAULT_CATCHABLE_AREA (DEFAULT_BALL_SIZE + DEFAULT_CATCHABLE_AREA_L)
#define DEFAULT_TEAM_FAR_LENGHT 40.0 // pms
#define DEFAULT_TEAM_TOO_FAR_LENGHT 60.0 // pms
#define DEFAULT_UNUM_FAR_LENGHT 20.0 // pms
#define DEFAULT_UNUM_TOO_FAR_LENGHT 40.0 // pms
// player parameters
// int
#define DEFAULT_PLAYER_TYPES 7
#define DEFAULT_PT_MAX 3
#define DEFAULT_RANDOM_SEED -1 // negative means generate a new seed
#define DEFAULT_SUBS_MAX 3
// additional int
#define DEFAULT_ADDITIONAL_TYPES 2
// double
#define DEFAULT_DASH_POWER_RATE_DELTA_MAX 0.0
#define DEFAULT_DASH_POWER_RATE_DELTA_MIN 0.0
#define DEFAULT_EFFORT_MAX_DELTA_FACTOR -0.002
#define DEFAULT_EFFORT_MIN_DELTA_FACTOR -0.002
#define DEFAULT_EXTRA_STAMINA_DELTA_MAX 100.0
#define DEFAULT_EXTRA_STAMINA_DELTA_MIN 0.0
#define DEFAULT_INERTIA_MOMENT_DELTA_FACTOR 25.0
#define DEFAULT_KICK_RAND_DELTA_FACTOR 0.5
#define DEFAULT_KICKABLE_MARGIN_DELTA_MAX 0.2
#define DEFAULT_KICKABLE_MARGIN_DELTA_MIN 0.0
#define DEFAULT_NEW_DASH_POWER_RATE_DELTA_MAX 0.002
#define DEFAULT_NEW_DASH_POWER_RATE_DELTA_MIN 0.0
#define DEFAULT_NEW_STAMINA_INC_MAX_DELTA_FACTOR -10000.0
#define DEFAULT_PLAYER_DECAY_DELTA_MAX 0.2
#define DEFAULT_PLAYER_DECAY_DELTA_MIN 0.0
#define DEFAULT_PLAYER_SIZE_DELTA_FACTOR -100.0
#define DEFAULT_PLAYER_SPEED_MAX_DELTA_MAX 0.0
#define DEFAULT_PLAYER_SPEED_MAX_DELTA_MIN 0.0
#define DEFAULT_STAMINA_INC_MAX_DELTA_FACTOR 0.0
// player type
// int
#define DEFAULT_H_ID 0 // pms
// #define DEFAULT_PLAYER_TYPE 0 // pms
// double
#define DEFAULT_H_DASH_POWER_RATE 0.006
#define DEFAULT_H_EFFORT_MAX 1.0
#define DEFAULT_H_EFFORT_MIN 0.6
#define DEFAULT_H_EXTRA_STAMINA 0.0
#define DEFAULT_H_INERTIA_MOMENT 5.0
#define DEFAULT_H_KICK_RAND 0.0
#define DEFAULT_H_KICKABLE_MARGIN 0.7
#define DEFAULT_H_PLAYER_DECAY 0.4
#define DEFAULT_H_PLAYER_SIZE 0.3
#define DEFAULT_H_PLAYER_SPEED_MAX 1.2
#define DEFAULT_H_STAMINA_INC_MAX 45.0
// additional double
#define DEFAULT_H_SPEED_DASH_MAX DEFAULT_MAXPOWER * DEFAULT_H_DASH_POWER_RATE * DEFAULT_H_EFFORT_MAX
#define DEFAULT_H_MIDDLE_AREA DEFAULT_PLAYER_SIZE + DEFAULT_BALL_SIZE + DEFAULT_H_KICKABLE_MARGIN / 2.0
#define DEFAULT_H_KICKABLE_AREA DEFAULT_PLAYER_SIZE + DEFAULT_BALL_SIZE + DEFAULT_H_KICKABLE_MARGIN
// ---------------------------------- Logger parameters --------------------------------
#define CREATE_GAME_LOG_FILE
#define LOG_IN true
#define LOG_IN_SEE false
#define LOG_IN_HEAR false
#define LOG_IN_HEAR_REFEREE false
#define LOG_IN_HEAR_PLAYERS false
#define LOG_IN_HEAR_PLAYERS_OUR false
#define LOG_IN_HEAR_PLAYERS_OPP false
#define LOG_IN_HEAR_SELF false
#define LOG_IN_SENSE_BODY false
#define LOG_IN_FULL_STATE false
#define LOG_IN_SERVER false
#define LOG_OUT true
#define LOG_COMMANDS_COUNTER true
#ifdef WIN32
#define GAME_LOG_FILE_NAME "\\player.gml"
#else // LINUX
#define GAME_LOG_FILE_NAME "/player.gml"
#endif
// -------------------------------------- Time -----------------------------------------
#define SLEEP_TIME 10 // milliseconds
#define CYCLES 30 // numbers of cycles after client
// exit if no information will be
// received.(Ex: server was stoped)
// --------------------------------- Structures size -----------------------------------
#define COMMANDS_PER_CYCLE_MAX 7
#define OPENED_FILES_MAX 4
#define TEAM_NAME_LENGTH_MAX 16
#define FILE_PATH_LENGTH_MAX 256
#define TEAM_PLAYERS_MAX 11
#define MOVABLE_OBJECTS_MAX 23
#define WORLD_MODEL_ARRAY_SIZE 10
#define COMMANDS_LIST_SIZE 10
#define BUFFER_SIZE_MAX 4096
// ------------------------------------ Names ------------------------------------------
#define GOALIE_NAME "goalie"
#define LEFT_SIDE_NAME "left"
#define RIGHT_SIDE_NAME "right"
#define UNKNOWN_NAME UNKNOWN_STRING_VALUE
#define QUOTES "\""
// --------------------------------- Connection settings -------------------------------
#define DEFAULT_TEAM_SIDE LEFT_SIDE_NAME
#define DEFAULT_OUR_LEFT_TEAM_NAME "Oxsy_Left"
#define DEFAULT_OUR_RIGHT_TEAM_NAME "Oxsy_Right"
#define DEFAULT_OPPONENT_TEAM_NAME "Oxsy_Opponent"
#define DEFAULT_SERVER_IP "127.0.0.1"
#define DEFAULT_SERVER_PORT "6000"
#define DEFAULT_SERVER_VERSION "9.36"
// ---------------------------------- Objects parameters -------------------------------
#define N_PLAYERS_PER_TEAM 11
#define N_PLAYERS (N_PLAYERS_PER_TEAM * 2)
#define N_LINES 4
#define N_GOALS 2
// corner, penalty, goal post, touchline, goalline, center mark
#define N_FLAGS (6 + 6 + 4 + 22 + 14 + 1)
#define SEE_OBJECTS_MAX (N_PLAYERS + N_LINES + N_GOALS + N_FLAGS)
// ----------------------------------- Pitch parameters --------------------------------
#define LAND_QSTEP_LIMIT 0.7 // limita maxima a erorii in observarea flagurilor si linilor
#define DIST_QSTEP_LIMIT 7.6 // limita maxima a erorii in observarea obiectelor(minge, jucatori)
#define DIST_MIN_STEP 0.1 // unitatea minima a distantelor receptionate in informatile vizuale
#define HALF_DIST_MIN_STEP 0.05 // unitatea de comparatie intre 2 distante
#define SECURE_DIST 2.0 // pms
#define SECURE_DIR 5.0 // pms
#define PITCH_MARGIN 5.0
#define PITCH_LENGTH 105.0
#define PITCH_WIDTH 68.0
#define HALF_PITCH_LENGTH (PITCH_LENGTH / 2.0)
#define HALF_PITCH_WIDTH (PITCH_WIDTH / 2.0)
#define PITCH_DIST_MAX_INSIDE (sqrt(square(PITCH_LENGTH) + square(PITCH_WIDTH)))
#define PITCH_LENGTH_WITH_MARK (PITCH_LENGTH + PITCH_MARGIN * 2.0)
#define PITCH_WIDTH_WITH_MARK (PITCH_WIDTH + PITCH_MARGIN * 2.0)
#define HALF_PITCH_LENGTH_WITH_MARK (PITCH_LENGTH_WITH_MARK / 2.0)
#define HALF_PITCH_WIDTH_WITH_MARK (PITCH_WIDTH_WITH_MARK / 2.0)
#define PITCH_DIST_MAX_WITH_MARK (sqrt(square(PITCH_LENGTH_WITH_MARK) + square(PITCH_WIDTH_WITH_MARK)))
#define CIRCLE_ARC 7.1
#define CORNER_ARC_R 1.0
#define CENTER_CIRCLE_RADIUS 9.15
#define PENALTY_CIRCLE_RADIUS 9.15
#define PENALTY_AREA_LENGTH 16.5
#define PENALTY_AREA_WIDTH 40.32
#define PENALTY_CORNER_X (HALF_PITCH_LENGTH - PENALTY_AREA_LENGTH)
#define PENALTY_CORNER_Y (PENALTY_AREA_WIDTH / 2.0)
#define PENALTY_SPOT_DIST 11.0
#define GOAL_AREA_LENGTH 5.5
#define GOAL_AREA_WIDTH 18.32
#define GOAL_WIDTH 14.02
#define GOAL_DEPTH 4.0
#define PLAYER_SIZE 0.3
#define BALL_SIZE 0.085
#define FONT_SIZE 3.0
#define KICKABLE_MARGIN 0.7
// ----------------------------------- Some useful defines -----------------------------
#ifndef NULL
#define NULL 0
#endif
#ifndef SOCKET_ERROR
#define SOCKET_ERROR -1
#endif
#ifndef BOOL
#define BOOL int
#endif
#ifndef TRUE
#define TRUE 1
#endif
#ifndef FALSE
#define FALSE 0
#endif
#define Bool int
// ----------------------------------- Unknowns values ---------------------------------
#define MAX_INTEGER_VALUE 32767
#define MAX_DOUBLE_VALUE 32767.0
#define MIN_INTEGER_VALUE -32768
#define MIN_DOUBLE_VALUE -32768.0
#define UNKNOWN_INTEGER_VALUE MIN_INTEGER_VALUE
#define UNKNOWN_DOUBLE_VALUE MIN_DOUBLE_VALUE
#define UNKNOWN_CHAR_VALUE ' '
#define UNKNOWN_STRING_VALUE "Unknown"
// double values
#define UNKNOWN_DISTANCE UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_DIRECTION UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_DISTANCE_CHANGE UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_DIRECTION_CHANGE UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_BODY_DIRECTION UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_HEAD_DIRECTION UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_POINTTO_DIRECTION UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_ANGLE UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_X_POSITION UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_Y_POSITION UNKNOWN_DOUBLE_VALUE
#define UNKNOWN_SPEED UNKNOWN_DOUBLE_VALUE
// integer values
#define UNKNOWN_TIME UNKNOWN_INTEGER_VALUE
#define UNKNOWN_CYCLE UNKNOWN_INTEGER_VALUE
#define UNKNOWN_CYCLES UNKNOWN_INTEGER_VALUE
#define UNKNOWN_NUMBER UNKNOWN_INTEGER_VALUE
#define UNKNOWN_SCORE UNKNOWN_INTEGER_VALUE
#define UNKNOWN_EXPIRES UNKNOWN_INTEGER_VALUE
#define UNKNOWN_MOVABLE UNKNOWN_INTEGER_VALUE
#define UNKNOWN_RANGE UNKNOWN_INTEGER_VALUE
#define UNKNOWN_INDEX UNKNOWN_INTEGER_VALUE
#define UNKNOWN_TEAM_SIDE UNKNOWN_CHAR_VALUE
// ----------------------------------- Variables Types ---------------------------------
//#define Bool int
//#define Fuzzy float
#define Time int
//#define Cycle int
// -------------------------------------- Utilities ------------------------------------
#define F_E 2.7182818284590452353602874713527
#define F_INFINITY 1.0e+250
#define EPS 1.0e-10
#define RANDOMBASE 1000
#define IRANDOMBASE 31
#define drand(h, l) ((((h) - (l)) * ((double)(random() % RANDOMBASE) / (double)RANDOMBASE)) + (l))
#define irand(x) ((random() / IRANDOMBASE) % (x))
#define PI 3.1415926535897932384626433832795
#define Min(a, b) (((a) > (b)) ? (b) : (a))
#define Max(a, b) (((a) > (b)) ? (a) : (b))
#define Sgn(x) (((x) == 0.0) ? 0.0 : (((x) < 0.0) ? -1.0 : 1.0))
#define Abs(x) (((x) > 0.0) ? (x) : -(x))
#define square(x) ((x) * (x))
#define deg2rad(d) ((double)(d) * PI / 180.0)
#define rad2deg(r) ((double)(r) * 180.0 / PI)
#define Sin(d) sin(deg2rad(d))
#define Cos(d) cos(deg2rad(d))
#define Tan(d) tan(deg2rad(d))
#define Asin(d) rad2deg(asin(d))
#define Acos(d) rad2deg(acos(d))
#define Atan(d) rad2deg(atan(d))
// -------------------------------------- Socket ---------------------------------------
typedef struct _Socket {
int socketfd;
struct sockaddr_in serv_addr;
} Socket;
// --------------------------- Say Message Characters, n = 74 --------------------------
typedef enum _SayCharacter {
SC_0,
SC_1,
SC_2,
SC_3,
SC_4,
SC_5,
SC_6,
SC_7,
SC_8,
SC_9,
SC_10,
SC_11,
SC_12,
SC_13,
SC_14,
SC_15,
SC_16,
SC_17,
SC_18,
SC_19,
SC_20,
SC_21,
SC_22,
SC_23,
SC_24,
SC_25,
SC_26,
SC_27,
SC_28,
SC_29,
SC_30,
SC_31,
SC_32,
SC_33,
SC_34,
SC_35,
SC_36,
SC_37,
SC_38,
SC_39,
SC_40,
SC_41,
SC_42,
SC_43,
SC_44,
SC_45,
SC_46,
SC_47,
SC_48,
SC_49,
SC_50,
SC_51,
SC_52,
SC_53,
SC_54,
SC_55,
SC_56,
SC_57,
SC_58,
SC_59,
SC_60,
SC_61,
SC_62,
SC_63,
SC_64,
SC_65,
SC_66,
SC_67,
SC_68,
SC_69,
SC_70,
SC_71,
SC_72,
SC_73,
SC_Unknown,
SC_Max
} SayCharacter;
#define SAY_CHARACTER_TABLE {\
{'0', SC_0},\
{'1', SC_1},\
{'2', SC_2},\
{'3', SC_3},\
{'4', SC_4},\
{'5', SC_5},\
{'6', SC_6},\
{'7', SC_7},\
{'8', SC_8},\
{'9', SC_9},\
{'A', SC_10},\
{'B', SC_11},\
{'C', SC_12},\
{'D', SC_13},\
{'E', SC_14},\
{'F', SC_15},\
{'G', SC_16},\
{'H', SC_17},\
{'I', SC_18},\
{'J', SC_19},\
{'K', SC_20},\
{'L', SC_21},\
{'M', SC_22},\
{'N', SC_23},\
{'O', SC_24},\
{'P', SC_25},\
{'Q', SC_26},\
{'R', SC_27},\
{'S', SC_28},\
{'T', SC_29},\
{'U', SC_30},\
{'V', SC_31},\
{'W', SC_32},\
{'X', SC_33},\
{'Y', SC_34},\
{'Z', SC_35},\
{'a', SC_36},\
{'b', SC_37},\
{'c', SC_38},\
{'d', SC_39},\
{'e', SC_40},\
{'f', SC_41},\
{'g', SC_42},\
{'h', SC_43},\
{'i', SC_44},\
{'j', SC_45},\
{'k', SC_46},\
{'l', SC_47},\
{'m', SC_48},\
{'n', SC_49},\
{'o', SC_50},\
{'p', SC_51},\
{'q', SC_52},\
{'r', SC_53},\
{'s', SC_54},\
{'t', SC_55},\
{'u', SC_56},\
{'v', SC_57},\
{'w', SC_58},\
{'x', SC_59},\
{'y', SC_60},\
{'z', SC_61},\
{'(', SC_62},\
{')', SC_63},\
{'<', SC_64},\
{'>', SC_65},\
{'+', SC_66},\
{'-', SC_67},\
{'*', SC_68},\
{'/', SC_69},\
{'.', SC_70},\
{'?', SC_71},\
{'_', SC_72},\
{' ', SC_73},\
{UNKNOWN_CHAR_VALUE, SC_Unknown},\
{(char)NULL}}
typedef struct _SayCharacterTable {
char sayCharacter;
int sayCharacterValue;
} SayCharacterTable;
// ------------------------------------- Play mode -------------------------------------
typedef enum _PlayMode {
PM_back_pass_l,
PM_back_pass_r,
PM_before_kick_off,
PM_catch_fault_l,
PM_catch_fault_r,
PM_corner_kick_l,
PM_corner_kick_r,
PM_drop_ball,
PM_first_half_over,
PM_foul_charge_l,
PM_foul_charge_r,
PM_foul_push_l,
PM_foul_push_r,
PM_foul_multiple_attack_l,
PM_foul_multiple_attack_r,
PM_foul_ballout_l,
PM_foul_ballout_r,
PM_free_kick_fault_l,
PM_free_kick_fault_r,
PM_free_kick_l,
PM_free_kick_r,
PM_goal_kick_l,
PM_goal_kick_r,
PM_goal_l,
PM_goal_r,
PM_goalie_catch_ball_l,
PM_goalie_catch_ball_r,
PM_half_time,
PM_human_judge,
PM_indirect_free_kick_l,
PM_indirect_free_kick_r,
PM_kick_in_l,
PM_kick_in_r,
PM_kick_off_l,
PM_kick_off_r,
PM_offside_l,
PM_offside_r,
PM_pause,
PM_penalty_kick_l,
PM_penalty_kick_r,
PM_penalty_miss_l,
PM_penalty_miss_r,
PM_penalty_ready_l,
PM_penalty_ready_r,
PM_penalty_score_l,
PM_penalty_score_r,
PM_penalty_setup_l,
PM_penalty_setup_r,
PM_penalty_taken_l,
PM_penalty_taken_r,
PM_play_on,
PM_time_extended,
PM_time_over,
PM_time_up,
PM_time_up_without_a_team,
PM_Unknown,
PM_Max
} PlayMode;
#define PLAY_MODE_TABLE {\
{"back_pass_l", PM_back_pass_l},\
{"back_pass_r", PM_back_pass_r},\
{"before_kick_off", PM_before_kick_off},\
{"catch_fault_l", PM_catch_fault_l},\
{"catch_fault_r", PM_catch_fault_r},\
{"corner_kick_l", PM_corner_kick_l},\
{"corner_kick_r", PM_corner_kick_r},\
{"drop_ball", PM_drop_ball},\
{"first_half_over", PM_first_half_over},\
{"foul_charge_l", PM_foul_charge_l},\
{"foul_charge_r", PM_foul_charge_r},\
{"foul_push_l", PM_foul_push_l},\
{"foul_push_r", PM_foul_push_r},\
{"foul_multiple_attack_l", PM_foul_multiple_attack_l},\
{"foul_multiple_attack_r", PM_foul_multiple_attack_r},\
{"foul_ballout_l", PM_foul_ballout_l},\
{"foul_ballout_r", PM_foul_ballout_r},\
{"free_kick_fault_l", PM_free_kick_fault_l},\
{"free_kick_fault_r", PM_free_kick_fault_r},\
{"free_kick_l", PM_free_kick_l},\
{"free_kick_r", PM_free_kick_r},\
{"goal_kick_l", PM_goal_kick_l},\
{"goal_kick_r", PM_goal_kick_r},\
{"goal_l", PM_goal_l},\
{"goal_r", PM_goal_r},\
{"goalie_catch_ball_l", PM_goalie_catch_ball_l},\
{"goalie_catch_ball_r", PM_goalie_catch_ball_r},\
{"half_time", PM_half_time},\
{"human_judge", PM_human_judge},\
{"indirect_free_kick_l", PM_indirect_free_kick_l},\
{"indirect_free_kick_r", PM_indirect_free_kick_r},\
{"kick_in_l", PM_kick_in_l},\
{"kick_in_r", PM_kick_in_r},\
{"kick_off_l", PM_kick_off_l},\
{"kick_off_r", PM_kick_off_r},\
{"offside_l", PM_offside_l},\
{"offside_r", PM_offside_r},\
{"pause", PM_pause},\
{"penalty_kick_l", PM_penalty_kick_l},\
{"penalty_kick_r", PM_penalty_kick_r},\
{"penalty_miss_l", PM_penalty_miss_l},\
{"penalty_miss_r", PM_penalty_miss_r},\
{"penalty_ready_l", PM_penalty_ready_l},\
{"penalty_ready_r", PM_penalty_ready_r},\
{"penalty_score_l", PM_penalty_score_l},\
{"penalty_score_r", PM_penalty_score_r},\
{"penalty_setup_l", PM_penalty_setup_l},\
{"penalty_setup_r", PM_penalty_setup_r},\
{"penalty_taken_l", PM_penalty_taken_l},\
{"penalty_taken_r", PM_penalty_taken_r},\
{"play_on", PM_play_on},\
{"time_extended", PM_time_extended},\
{"time_over", PM_time_over},\
{"time_up", PM_time_up},\
{"time_up_without_a_team", PM_time_up_without_a_team},\
{UNKNOWN_NAME, PM_Unknown},\
{NULL}}
typedef struct _PlayModeTable {
char* strPlayMode;
PlayMode playMode;
} PlayModeTable;
// --------------------------------------- Flags ---------------------------------------
typedef enum _FlagType {
FT_c,
FT_c_t,
FT_c_b,
FT_l_t,
FT_l_b,
FT_r_t,
FT_r_b,
FT_p_l_t,
FT_p_l_c,
FT_p_l_b,
FT_p_r_t,
FT_p_r_c,
FT_p_r_b,
FT_g_l_t,
FT_g_l_b,
FT_g_r_t,
FT_g_r_b,
FT_t_l_50,
FT_t_l_40,
FT_t_l_30,
FT_t_l_20,
FT_t_l_10,
FT_t_0,
FT_t_r_10,
FT_t_r_20,
FT_t_r_30,
FT_t_r_40,
FT_t_r_50,
FT_b_l_50,
FT_b_l_40,
FT_b_l_30,
FT_b_l_20,
FT_b_l_10,
FT_b_0,
FT_b_r_10,
FT_b_r_20,
FT_b_r_30,
FT_b_r_40,
FT_b_r_50,
FT_l_t_30,
FT_l_t_20,
FT_l_t_10,
FT_l_0,
FT_l_b_10,
FT_l_b_20,
FT_l_b_30,
FT_r_t_30,
FT_r_t_20,
FT_r_t_10,
FT_r_0,
FT_r_b_10,
FT_r_b_20,
FT_r_b_30,
FT_Unknown,
FT_Max
} FlagType;
#define FLAG_TABLE {\
{"c", FT_c, { 0, 0}},\
{"c t", FT_c_t, { 0, -HALF_PITCH_WIDTH} },\
{"c b", FT_c_b, { 0, HALF_PITCH_WIDTH} },\
{"l t", FT_l_t, {-HALF_PITCH_LENGTH, -HALF_PITCH_WIDTH} },\
{"l b", FT_l_b, {-HALF_PITCH_LENGTH, HALF_PITCH_WIDTH} },\
{"r t", FT_r_t, { HALF_PITCH_LENGTH, -HALF_PITCH_WIDTH} },\
{"r b", FT_r_b, { HALF_PITCH_LENGTH, HALF_PITCH_WIDTH} },\
{"p l t", FT_p_l_t, {-PENALTY_CORNER_X, -PENALTY_CORNER_Y} },\
{"p l c", FT_p_l_c, {-PENALTY_CORNER_X, 0} },\
{"p l b", FT_p_l_b, {-PENALTY_CORNER_X, PENALTY_CORNER_Y} },\
{"p r t", FT_p_r_t, { PENALTY_CORNER_X, -PENALTY_CORNER_Y} },\
{"p r c", FT_p_r_c, { PENALTY_CORNER_X, 0} },\
{"p r b", FT_p_r_b, { PENALTY_CORNER_X, PENALTY_CORNER_Y} },\
{"g l t", FT_g_l_t, {-HALF_PITCH_LENGTH, -GOAL_WIDTH / 2.0}},\
{"g l b", FT_g_l_b, {-HALF_PITCH_LENGTH, GOAL_WIDTH / 2.0}},\
{"g r t", FT_g_r_t, { HALF_PITCH_LENGTH, -GOAL_WIDTH / 2.0}},\
{"g r b", FT_g_r_b, { HALF_PITCH_LENGTH, GOAL_WIDTH / 2.0}},\
{"t l 50", FT_t_l_50, {-50, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t l 40", FT_t_l_40, {-40, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t l 30", FT_t_l_30, {-30, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t l 20", FT_t_l_20, {-20, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t l 10", FT_t_l_10, {-10, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t 0", FT_t_0, { 0, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t r 10", FT_t_r_10, { 10, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t r 20", FT_t_r_20, { 20, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t r 30", FT_t_r_30, { 30, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t r 40", FT_t_r_40, { 40, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"t r 50", FT_t_r_50, { 50, -HALF_PITCH_WIDTH_WITH_MARK}},\
{"b l 50", FT_b_l_50, {-50, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b l 40", FT_b_l_40, {-40, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b l 30", FT_b_l_30, {-30, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b l 20", FT_b_l_20, {-20, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b l 10", FT_b_l_10, {-10, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b 0", FT_b_0, { 0, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b r 10", FT_b_r_10, { 10, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b r 20", FT_b_r_20, { 20, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b r 30", FT_b_r_30, { 30, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b r 40", FT_b_r_40, { 40, HALF_PITCH_WIDTH_WITH_MARK}},\
{"b r 50", FT_b_r_50, { 50, HALF_PITCH_WIDTH_WITH_MARK}},\
{"l t 30", FT_l_t_30, {-HALF_PITCH_LENGTH_WITH_MARK, -30}},\
{"l t 20", FT_l_t_20, {-HALF_PITCH_LENGTH_WITH_MARK, -20}},\
{"l t 10", FT_l_t_10, {-HALF_PITCH_LENGTH_WITH_MARK, -10}},\
{"l 0", FT_l_0, {-HALF_PITCH_LENGTH_WITH_MARK, 0}},\
{"l b 10", FT_l_b_10, {-HALF_PITCH_LENGTH_WITH_MARK, 10}},\
{"l b 20", FT_l_b_20, {-HALF_PITCH_LENGTH_WITH_MARK, 20}},\
{"l b 30", FT_l_b_30, {-HALF_PITCH_LENGTH_WITH_MARK, 30}},\
{"r t 30", FT_r_t_30, { HALF_PITCH_LENGTH_WITH_MARK, -30}},\
{"r t 20", FT_r_t_20, { HALF_PITCH_LENGTH_WITH_MARK, -20}},\
{"r t 10", FT_r_t_10, { HALF_PITCH_LENGTH_WITH_MARK, -10}},\
{"r 0", FT_r_0, { HALF_PITCH_LENGTH_WITH_MARK, 0}},\
{"r b 10", FT_r_b_10, { HALF_PITCH_LENGTH_WITH_MARK, 10}},\
{"r b 20", FT_r_b_20, { HALF_PITCH_LENGTH_WITH_MARK, 20}},\
{"r b 30", FT_r_b_30, { HALF_PITCH_LENGTH_WITH_MARK, 30}},\
{UNKNOWN_NAME, FT_Unknown, { UNKNOWN_X_POSITION, UNKNOWN_Y_POSITION}},\
{NULL}}
typedef struct _Pos {
double x;
double y;
} Pos;
typedef struct _FlagTable {
char* strFlagType;
FlagType flagType;
Pos pos;
} FlagTable;
// -------------------------------------------- Lines ----------------------------------
typedef enum _LineType {
LT_L,
LT_T,
LT_B,
LT_R,
LT_Unknown,
} LineType;
// --------------------------------- Fullstate info ----------------------------------
// order in this enum must be like this PT_0 = 0 ... PT_6 = 6 and after this values the others defines can be in any order.
typedef enum _PlayerType {
PT_0,
PT_1,
PT_2,
PT_3,
PT_4,
PT_5,
PT_6,
PT_Goalie, // has the same characteristics like PT_0, the only differnece is that, this type can catch ball with 'Catch' command.
PT_Unknown,
} PlayerType;
typedef enum _WhichTeam {
WT_Our,
WT_Opponent,
WT_Unknown,
} WhichTeam;
typedef struct _PlayerInfo {
WhichTeam team;
int unum;
PlayerType type;
} PlayerInfo;
typedef enum _ObjectType {
OT_Ball,
OT_Player,
OT_Goal,
OT_Flag,
OT_Line,
OT_Unknown,
} ObjectType;
typedef struct _FullStateObj {
ObjectType type;
PlayerInfo player_info;
Pos pos;
Pos speed;
double body_angle;
double head_angle;
double pointto_dist;
double pointto_dir;
double stamina;
double effort;
double recovery;
} FullStateObj;
typedef struct _ArmInfo {
int movable;
int expires;
double dist;
double dir;
} ArmInfo;
typedef struct _CommandsCounter {
int kickCounter;
int dashCounter;
int turnCounter;
int sayCounter;
int turnNeckCounter;
int catchCounter;
int moveCounter;
int changeViewCounter;
int tackleCounter;
int pointToCounter;
int attentionToCounter;
} CommandsCounter;