/*Copyright (c) 2000-2002, Jelle Kok, University of AmsterdamAll rights reserved.Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the University of Amsterdam nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.*//*! \file main.C<pre><b>File:</b>          main.C<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn<b>Authors:</b>       Jelle Kok<b>Created:</b>       28/11/2000<b>Last Revision:</b> $ID$<b>Contents:</b>      This file contains the main of the program that is used               to start the agent. It creates all classes, starts the different                threads and calls the mainloop. Furthermore it parses the               specified arguments to adjust the variables.<hr size=2><h2><b>Changes</b></h2><b>Date</b>             <b>Author</b>          <b>Comment</b>28/11/2000       Jelle Kok       Initial version created</pre>*/#include "SenseHandler.h"#include "Player.h"#include "Parse.h"#include <string.h>   // needed for strcpy#include <pthread.h>  // needed for pthread_create#include <stdlib.h>   // needed for exitextern Logger Log; /*!< This is a reference to the Logger to write log info to*/void printOptions( );/*! This is the main function and creates and links all the different classes.    First it reads in all the parameters from the command prompt    (<program name> -help) and uses these values to create the classes. After     all the classes are linked, the mainLoop in the Player class is called. */int main( int argc, char * argv[] ){  pthread_t      listen, sense;  ServerSettings ss;  PlayerSettings cs;  // define variables for command options and initialize with default values  char     strTeamName[MAX_TEAM_NAME_LENGTH] = "UvA_Trilearn";  int      iPort                             = ss.getPort();  int      iMinLogLevel                      = 0;  int      iMaxLogLevel                      = 0;    char     strHost[128]                      = "localhost";  double   dVersion                          = 9.08;  int      iMode                             = 0;  char     strFormations[128]                = "formations.conf";  int      iNr                               = 2;  int      iReconnect                        = -1;  bool     bInfo                             = false;  bool     bSuppliedLogFile                  = false;  ofstream os;  //ofstream os ("./log/action.dat", std::ios::app);  // add by orit.  // read in all the command options and change the associated variables  // assume every two values supplied at prompt, form a duo  char * str;  for( int i = 1 ; i < argc ; i = i + 2  )  {    // help is only option that does not have to have an argument    if( i + 1 >= argc && strncmp( argv[i], "-help", 3 ) != 0 )    {      cout << "Need argument for option: " << argv[i] << endl;      exit( 0 );    }    // read a command option    if( argv[i][0] == '-' && strlen( argv[i] ) > 1)    {      switch( argv[i][1] )      {        case '?':                                   // print help          printOptions( );          exit(0);          break;        case 'c':                                   // clientconf file          if( cs.readValues( argv[i+1], ":" ) == false )            cerr << "Error in reading client file: " << argv[i+1] << endl;          break;        case 'f':                                   // formations file          strcpy( strFormations, argv[i+1] );          break;        case 'h':                                   // host server or help          if( strlen( argv [i]) > 2 && argv[i][2] == 'e' )          {            printOptions( );            exit(0);          }          else            strcpy( strHost, argv[i+1] );          break;        case 'i':                                   // info 1 0          str   = &argv[i+1][0];          bInfo = (Parse::parseFirstInt( &str ) == 1 ) ? true : false ;          break;        case 'l':                                   // loglevel int[..int]          str = &argv[i+1][0];          iMinLogLevel = Parse::parseFirstInt( &str );          while( iMinLogLevel != 0 )          {            if( *str == '.' || *str == '-') // '.' or '-' indicates range             {              *str++;              iMaxLogLevel = Parse::parseFirstInt( &str );                          if( iMaxLogLevel == 0 ) iMaxLogLevel = iMinLogLevel;              Log.addLogRange( iMinLogLevel, iMaxLogLevel );            }            else              Log.addLogLevel( iMinLogLevel );            iMinLogLevel = Parse::parseFirstInt( &str );                                    }          break;        case 'm':                                   // mode int          str = &argv[i+1][0];          iMode = Parse::parseFirstInt( &str );          break;        case 'n':                                   // number in formation int          str = &argv[i+1][0];          iNr = Parse::parseFirstInt( &str );          break;        case 'o':                                   // output file log info          os.open( argv[i+1] );          bSuppliedLogFile = true;          break;        case 'p':                                   // port          str = &argv[i+1][0];          iPort = Parse::parseFirstInt( &str );          break;        case 'r':                                   // reconnect 1 0          str = &argv[i+1][0];          iReconnect = Parse::parseFirstInt( &str );          break;        case 's':                                   // serverconf file          if( ss.readValues( argv[i+1], ":" ) == false )            cerr << "Error in reading server file: " << argv[i+1] << endl;          break;        case 't':                                   // teamname name          strcpy( strTeamName, argv[i+1] );          break;        case 'v':                                   // version version          str = &argv[i+1][0];          dVersion = Parse::parseFirstDouble( &str );          break;        default:          cerr << "(main) Unknown command option: " << argv[i] << endl;      }    }  }  if( bInfo == true )    cout << "team         : "  << strTeamName    << endl <<            "port         : "  << iPort          << endl <<            "host         : "  << strHost        << endl <<            "version      : "  << dVersion       << endl <<            "mode         : "  << iMode          << endl <<            "playernr     : "  << iNr            << endl <<            "reconnect    : "  << iReconnect     << endl ;   if( bSuppliedLogFile == true )    Log.setOutputStream( os );                   // initialize logger  else    Log.setOutputStream( cout );      //////////////////////////////////  /*  iMinLogLevel = 776;  iMaxLogLevel = 778;  Log.addLogRange( iMinLogLevel, iMaxLogLevel );  Log.setOutputStream( os );    */  /////////////////////////////////   	      Log.restartTimer( );  Formations fs( strFormations, FT_433_OFFENSIVE, iNr-1 );// read formations file  WorldModel wm( &ss, &cs, &fs );              // create worldmodel  Connection c( strHost, iPort, MAX_MSG );     // make connection with server  ActHandler a( &c, &wm, &ss );                // link actHandler and worldmodel  SenseHandler s( &c, &wm, &ss, &cs );         // link senseHandler with wm  Player bp( &a, &wm, &ss, &cs, &fs, strTeamName, dVersion, iReconnect );                                               // create player  pthread_create( &sense, NULL, sense_callback  , &s); // start listening  if( iMode > 0 ) // only listen to standard input when not playing    pthread_create( &listen, NULL, stdin_callback, &bp);   if( iMode == 0 )    bp.mainLoop();  else if( iMode == 1 )    bp.test_only_update();  c.disconnect();  os.close();}/*! This function prints the command prompt options that can be supplied to the    program. */void printOptions( ){  cout << "Command options:"                                         << endl <<   " c(lientconf) file     - use file as client conf file"           << endl <<   " f(ormations) file     - file with formation info"               << endl <<   " he(lp)                - print this information"                 << endl <<   " h(ost) hostname       - host to connect with"                   << endl <<   " i(nfo) 0/1            - print variables used to start"          << endl <<   " l(oglevel) int[..int] - level of debug info"                    << endl <<   " m(ode) int            - which mode to start up with"            << endl <<   " n(umber) int          - player number in formation"             << endl <<   " o(utput) file         - write log info to (screen is default)"  << endl <<   " p(ort)                - port number to connect with"            << endl <<   " r(econnect) int       - reconnect as player nr"                 << endl <<   " s(erverconf) file     - use file as server conf file"           << endl <<   " t(eamname) name       - name of your team"                      << endl;}