/*   Copyright (c) 2000-2002, Jelle Kok, University of Amsterdam   All 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 WorldModel.C  <pre>  <b>File:</b>          WorldModel.C  <b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn  <b>Authors:</b>       Jelle Kok  <b>Created:</b>       12/02/2001  <b>Last Revision:</b> $ID$  <b>Contents:</b>      class definitions of WorldModel. This class contains  the methods of the WorldModel that process the incoming  information and analyze the current state of the world.  <hr size=2>  <h2><b>Changes</b></h2>  <b>Date</b>             <b>Author</b>          <b>Comment</b>  12/02/2001       Jelle Kok       Initial version created  </pre>  */#include<stdio.h>    // needed for printf#include<strings.h>  // needed for strcpy#include<errno.h>    // needed for ETIMEDOUT#include<pthread.h>  // needed for pthread_mutex_init#include<string.h>   // needed for strcpy#include<math.h>     // needed for erf#include"WorldModel.h"/*****************************************************************************//********************** CLASS WORLDMODEL *************************************//*****************************************************************************//*! This constructor creates the worldmodel, all variables are initialized by  default values  \param ss reference to class in which all server parameters are stored  \param ps reference to class in which all client parameters are stored   \param fs reference to class in which all formation information is stored*/	WorldModel::WorldModel( ServerSettings *ss, PlayerSettings *ps, Formations *fs):agentObject(  ){	SS                    = ss;	PS                    = ps;	formations            = fs;	bNewInfo              = false;	setSide                ( SIDE_ILLEGAL ); // is set by init message	strTeamName[0]        = '\0';	setPlayMode            ( PM_BEFORE_KICK_OFF );	iGoalDiff             = 0;	m_sidePenalty         = SIDE_ILLEGAL;	int i;	for( i = 0; i < MAX_TEAMMATES ; i ++ )		Teammates[i].setType( SoccerTypes::getTeammateObjectFromIndex( i ) );	for( i = 0; i < MAX_OPPONENTS ; i ++ )		Opponents[i].setType( SoccerTypes::getOpponentObjectFromIndex( i ) );	for( i = 0; i < MAX_OPPONENTS + MAX_TEAMMATES ; i ++ )		UnknownPlayers[i].setType( OBJECT_ILLEGAL );	for( i = 0; i < MAX_FLAGS; i ++ )		Flags[i].setType( OBJECT_ILLEGAL );	for( i = 0; i < MAX_LINES; i ++ )		Lines[i].setType( OBJECT_ILLEGAL );	iNrUnknownPlayers     = 0;	Ball.setType             ( OBJECT_BALL    );	agentObject.setType      ( OBJECT_ILLEGAL );	agentObject.setStamina   ( Stamina(SS->getStaminaMax(),1.0,1.0) );	for( i = 0 ; i < CMD_MAX_COMMANDS ; i ++ )	{		queuedCommands[i].commandType = (CommandT)i;		performedCommands[i]          = false;		iCommandCounters[i]           = 0;	}	iNrHoles              = 0;	iNrOpponentsSeen      = 0;	iNrTeammatesSeen      = 0;	bsCheckBall           = BS_ILLEGAL;	// initialize the mutex for bNewInfo	pthread_mutex_init( &mutex_newInfo, NULL );	pthread_cond_init ( &cond_newInfo, NULL );	timeLastSenseMessage = Time( 0, 1 );}/*! This method returns a pointer to the Object information of the object  type that is passed as the first argument.  \param o ObjectType of which information should be returned  \return pointer to object information of supplied ObjectT argument */Object* WorldModel::getObjectPtrFromType( ObjectT o ){	Object *object = NULL;	if( o == OBJECT_ILLEGAL )		return NULL;	if( SoccerTypes::isKnownPlayer( o ) )	{		if( o == agentObject.getType() )			object = &agentObject;		else if( SoccerTypes::isTeammate( o ) )			object = &Teammates[SoccerTypes::getIndex(o)];		else			object = &Opponents[SoccerTypes::getIndex(o)];	}	else if( SoccerTypes::isFlag( o ) )		object = &Flags[SoccerTypes::getIndex(o)];	else if( SoccerTypes::isLine( o ) )		object = &Lines[SoccerTypes::getIndex(o)];	else if( SoccerTypes::isBall( o ) )		object = &Ball;	else if( o == OBJECT_OPPONENT_GOALIE )		return getObjectPtrFromType( getOppGoalieType() );	else if( o == OBJECT_TEAMMATE_GOALIE )		return getObjectPtrFromType( getOwnGoalieType() );	return object;}/*! This method sets the time of the last catch cycle. This information is  received by the SenseHandler when the referee has sent this message.  After a catch, the goalie is not allowed to catch the ball for  catch_ban_cycles (defined in ServerSettings).  \param iTime time the ball was catched. */void WorldModel::setTimeLastCatch( Time time ){	timeLastCatch = time;}/*! This method returns the number of cycles since the last catch.  \return cycles since last catch. */int WorldModel::getTimeSinceLastCatch(){	if( timeLastCatch.getTime() == -1 )		return 1000;	return timeLastSenseMessage - timeLastCatch;}/*! This method sets the time of the last received referee message. This  information is received by the SenseHandler.  \param iTime time the referee sent the last message. */bool WorldModel::setTimeLastRefereeMessage( Time time ){	timeLastRefMessage = time;	return true;}/*! This method returns the time of the last received referee message.  \return time of last received referee message. */Time WorldModel::getTimeLastRefereeMessage( ){	return timeLastRefMessage;}/*! This method returns the current time. In case of a player this is the  time of the last sense message, in case of the coach this is the time of  the last see_global message.  \return actual time */Time WorldModel::getCurrentTime(){	if( getPlayerNumber() == 0 )		return getTimeLastSeeGlobalMessage();	else		return getTimeLastSenseMessage();}/*! This method returns the current cycle number. In case of a player this is  the cycle of the last sense message, in case of the coach this is the cycle  of the last see_global message.  \return actual time */int WorldModel::getCurrentCycle(){	if( getPlayerNumber() == 0 )		return getTimeLastSeeGlobalMessage().getTime();	else		return getTimeLastSenseMessage().getTime();}/*! This method returns whether the time of the server stands still. This occurs  during non play-on modes (kick_in, kick_off, etc.).  \return bool indicating whether time of the server stands still. */bool WorldModel::isTimeStopped(){	return getCurrentTime().isStopped();}/*! This method returns whether the last received message was a see or not.  \return bool indicating whether the last received message was a see.*/bool WorldModel::isLastMessageSee() const{	return getTimeLastSeeMessage() == getTimeLastSenseMessage() ;}/*! This method returns the time of the last see global message.  This message can only be received by the coach.  \return time of last see_global message */Time WorldModel::getTimeLastSeeGlobalMessage( ) const{	return getTimeLastSeeMessage();}/*! This method sets the time of the last see_global message.  It also sends a condition signal to indicate that variable  bNewInfo has changed. When main thread is stopped in  waitForNewInformation, it is unblocked.  \param time see message has arrived  \return true when update was succesful */bool WorldModel::setTimeLastSeeGlobalMessage( Time time ){	return setTimeLastSeeMessage( time ); // set see message}/*! This method returns the time of the last see message  \return time of last see message */Time WorldModel::getTimeLastSeeMessage( ) const{	return timeLastSeeMessage;}/*! This method sets the time of the last see message. It also sends a condition  signal to indicate that variable bNewInfo has changed. When main  thread is stopped in waitForNewInformation, it is unblocked.  \param time see message has arrived  \return true when update was succesful */bool WorldModel::setTimeLastSeeMessage( Time time ){	timeLastSeeMessage  = time;	pthread_mutex_lock  ( &mutex_newInfo );	bNewInfo            = true;	pthread_cond_signal ( &cond_newInfo );	pthread_mutex_unlock( &mutex_newInfo );	return true;}/*! This method returns the time of the last sense message  \return time of last sense message */Time WorldModel::getTimeLastSenseMessage( ) const{	return timeLastSenseMessage ;}/*! This method sets the time of the last sense message. It also send a  condition signal to indicate that variable bNewInfo has changed.  When main thread is stopped in waitForNewInformation, it is  unblocked.  \param time sense message has arrived  \return true when update was succesful */bool WorldModel::setTimeLastSenseMessage( Time time ){	timeLastSenseMessage = time;	pthread_mutex_lock( &mutex_newInfo );	bNewInfo = true;	pthread_cond_signal( &cond_newInfo );	pthread_mutex_unlock( &mutex_newInfo );	return true;}/*! This method returns the player number of the agent. The player number is  the fixed number which is given by the server after initialization.  \return player number of this player. */int WorldModel::getPlayerNumber( ) const{	return iPlayerNumber;}/*! This method sets the player number of the agent. This value is available in  the conformation message sent by the soccerserver after the initialization.  \param i new player number of the agent.  \return bool indicating whether player number was set. */bool WorldModel::setPlayerNumber( int i ){	iPlayerNumber = i;	return true;}/*! This method returns the side of the agent. Note that  the side of the agent does not change after half time.  \return side (SIDE_LEFT or SIDE_RIGHT) for agent */SideT WorldModel::getSide( ) const{	return sideSide;}/*! This method sets the side of the agent  \param s (SIDE_LEFT or SIDE_RIGHT) for agent  \return bool indicating whether update was succesful.*/bool WorldModel::setSide( SideT s ){	sideSide = s;	return true;}/*! This method returns the teamname of the agent in this worldmodel  \return teamname for the agent in this worldmodel */const char* WorldModel::getTeamName( ) const{	return strTeamName ;}/*! This method sets the teamname of the agent. The maximum team name is  MAX_TEAM_NAME_LENGTH as defined in Soccertypes.h.  \param str teamname for the agent in this worldmodel  \return bool indicating whether update was succesful.*/bool WorldModel::setTeamName( char * str ){	strcpy( strTeamName, str );	return true;}/*! This method returns the current playmode. This playmode is passed through by  the referee.  \return current playmode (see SoccerTypes for possibilities) */PlayModeT WorldModel::getPlayMode( ) const{	return playMode ;}/*! This method sets the play mode of the agent in this worldmodel  \param pm for the agent in this worldmodel  \return bool indicating whether update was succesful.*/bool WorldModel::setPlayMode( PlayModeT pm ){	playMode = pm;	if( ( pm == PM_GOAL_KICK_LEFT  && getSide() == SIDE_LEFT  ) ||			( pm == PM_GOAL_KICK_RIGHT && getSide() == SIDE_RIGHT )    )		setTimeLastCatch( getTimeLastSenseMessage() );	return true;}