/*! \file ServerSettings.C<pre><b>File:</b>          ServerSettings.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>      Code file for class ServerSettings. It contains all the               member method implementations of the ServerSettings class. This               class contains all the Soccerserver parameters that are available               in the configuration files 'server.conf' and 'player.conf' along               with their default values and standard set- and get methods for               manipulating these values.</pre><hr size=2><pre><h2><b>Changes</b></h2><b>Date</b>             <b>Author</b>          <b>Comment</b>28/11/2000       Jelle Kok       Initial version created (based on Emiel Corten)31/01/2001       Remco de Boer   Settings for server version 7.xx added27/04/2001       Remco de Boer   drop_ball_time and player.conf parameters added03/05/2001       Remco de Boer   Version including full documentation completed</pre>*/#include "ServerSettings.h"#include <stdio.h>#include <string.h>           // needed for 'strcpy'/******************************************************************************//********************   CLASS SERVERSETTINGS   ********************************//******************************************************************************//*! Constructor for the ServerSettings class. It sets all the private member    variables in this class to the values specified in the configuration files    (server.conf and player.conf) of Soccer Server version 8.xx. These values    can be changed by calling the method 'readValues' with a new configuration    file or by calling the method 'setValue' for a specific variable. */ServerSettings::ServerSettings( ):GenericValues( "ServerSettings", 121 ){  // goal-related parameters  dGoalWidth         = 14.02; // goal_width: the width of the goal  // player-related parameters  dPlayerSize        = 0.3;   // player_size: the size (=radius) of a player  dPlayerDecay       = 0.4;   // player_decay: player speed decay per cycle  dPlayerRand        = 0.1;   // player_rand: random error in player movement  dPlayerWeight      = 60.0;  // player_weight: weight of a player (for wind)  dPlayerSpeedMax    = 1.2;   // player_speed_max: maximum speed of a player  dPlayerAccelMax    = 1.0;   // player_accel_max: maximum acceleration of a                              // player per cycle  // stamina-related parameters  dStaminaMax        = 4000.0;// stamina_max: maximum stamina of a player  dStaminaIncMax     = 45.0;  // stamina_inc_max: maximum stamina increase of a                              // player per cycle  dRecoverDecThr     = 0.3;   // recover_dec_thr: percentage of stamina_max                              // below which player recovery decreases  dRecoverDec        = 0.002; // recover_dec: decrement step per cycle for                              // player recovery  dRecoverMin        = 0.5;   // recover_min: minimum player recovery  dEffortDecThr      = 0.3;   // effort_dec_thr: percentage of stamina_max below                              // which player effort capacity decreases  dEffortDec         = 0.005; // effort_dec: decrement step per cycle for                              // player effort capacity  dEffortIncThr      = 0.6;   // effort_incr_thr: percentage of stamina_max                              // above which player effort capacity increases  dEffortInc         = 0.01;  // effort_inc: increment step per cycle for                              // player effort capacity  dEffortMin         = 0.6;   // effort_min: minimum value for player effort  // parameters related to auditory perception  iHearMax           = 2;     // hear_max: maximum hearing capacity of a player;                              // a player can hear hear_inc messages in                              // hear_decay simulation cycles  iHearInc           = 1;     // hear_inc: minimum hearing capacity of a player,                              // i.e. the number of messages a player can hear                              // in hear_decay simulation cycles  iHearDecay         = 2;     // hear_decay: decay rate of player hearing                              // capacity, i.e. minimum number of cycles for                              // hear_inc messages  // parameters related to player turn actions  dInertiaMoment     = 5.0;   // inertia_moment: inertia moment of a player;                              // affects actual turn angle depending on speed  // parameters related to sense_body information  iSenseBodyStep     = 100;   // sense_body_step: length of the interval (in ms)                              // between sense_body information messages  // goalkeeper-related parameters  dCatchableAreaL    = 2.0;   // catchable_area_l: length of area around                              // goalkeeper in which he can catch the ball  dCatchableAreaW    = 1.0;   // catchable_area_w: width of area around                              // goalkeeper in which he can catch the ball  dCatchProbability  = 1.0;   // catch_probability: the probability for a                              // goalkeeper to catch the ball  iCatchBanCycle     = 5 ;    // catch_ban_cycle: number of cycles after catch                              // in which goalkeeper cannot catch again  iGoalieMaxMoves    = 2;     // goalie_max_moves: maximum number of 'move'                              // actions allowed for goalkeeper after catch  // ball-related parameters  dBallSize          = 0.085; // ball_size: the size (=radius) of the ball  dBallDecay         = 0.94;  // ball_decay: ball speed decay per cycle  dBallRand          = 0.05;  // ball_rand: random error in ball movement  dBallWeight        = 0.2;   // ball_weight: weight of the ball (for wind)  dBallSpeedMax      = 2.7;   // ball_speed_max: maximum speed of the ball  dBallAccelMax      = 2.7;   // ball_accel_max: maximum acceleration of the                              // ball per cycle  // wind-related parameters  dWindForce         = 0.0;   // wind_force: the force of the wind  dWindDir           = 0.0;   // wind_dir: the direction of the wind  dWindRand          = 0.0;   // wind_rand: random error in wind direction  bWindRandom        = false; // wind_random: is wind force and dir random  // parameters related to 'dash' and 'kick' commands  dKickableMargin    = 0.7;   // kickable_margin: margin around player in which                              // ball is kickable; kickable area thus equals                              // kickable_margin + ball_size + player_size  dCkickMargin       = 1.0;   // ckick_margin: corner kick margin, i.e. the                              // minimum distance to the ball for offending                              // players when a corner kick is taken  dDashPowerRate     = 0.006; // dash_power_rate: rate by which the 'Power'                              // argument in a 'dash' command is multiplied                              // (thus determining the amount of displacement                              // of the player as a result of the 'dash')  dKickPowerRate     = 0.027; // kick_power_rate: rate by which the 'Power'                              // argument in a 'kick' command is multiplied                              // (thus determining the amount of displacement                               // of the ball as a result of the 'kick')  dKickRand          = 0.0;   // kick_rand: random error in kick direction  // parameters related to visual and auditory perception range  dVisibleAngle      = 90.0;  // visible_angle: angle of the view cone of a                              // player in the standard view mode  dAudioCutDist      = 50.0;  // audio_cut_dist: maximum distance over which a                              // spoken message can be heard  // quantization parameters  dQuantizeStep      = 0.1;   // quantize_step: quantization step for distance                              // of moving objects  dQuantizeStepL     = 0.01;  // quantize_step_l: quantization step for distance                              // of landmarks  // range parameters for basic actuator commands  iMaxPower          = 100;   // maxpower: maximum power for dash/kick  iMinPower          = -100;  // minpower: minimum power for dash/kick  iMaxMoment         = 180;   // maxmoment: maximum angle for turn/kick  iMinMoment         = -180;  // minmoment: minimum angle for turn/kick  iMaxNeckMoment     = 180;   // maxneckmoment: maximum angle for turnneck  iMinNeckMoment     = -180;  // minneckmoment: minimum angle for turnneck  iMaxNeckAng        = 90;    // maxneckang: maximum neck angle rel to body  iMinNeckAng        = -90;   // minneckang: minimum neck angle rel to body  // port-related parameters  iPort              = 6000;  // port: port number for player connection  iCoachPort         = 6001;  // coach_port: port number for coach connection  iOlCoachPort       = 6002;  // ol_coach_port: port number for online coach  // coach-related parameters  iSayCoachCntMax    = 128;   // say_coach_cnt_max: maximum number of coach                              // messages possible  iSayCoachMsgSize   = 128;   // say_coach_msg_size: maximum size of coach                              // messages  iClangWinSize      = 300;   // clang_win_size: time window which controls how                              // many coach messages can be sent  iClangDefineWin    = 1;     // clang_define_win: number of define messages by                              // coach per time window  iClangMetaWin      = 1;     // clang_meta_win: number of meta messages by                              // coach per time window  iClangAdviceWin    = 1;     // clang_advice_win: number of advice messages by                              // coach per time window  iClangInfoWin      = 1;     // clang_info_win: number of info messages by                              // coach per time window  iClangMessDelay    = 50;    // clang_mess_delay: delay of coach messages, ie                              // the number of cycles between send to player                               // and receival of message  iClangMessPerCycle = 1;     // clang_mess_per_cycle: number of coach messages                              // per cycle  iSendViStep        = 100;   // send_vi_step: interval of coach's look, i.e.                              // the length of the interval (in ms) between                              // visual messages to the coach  // time-related parameters  iSimulatorStep     = 100;   // simulator_step: the length (in ms) of a                              // simulator cycle  iSendStep          = 150;   // send_step: the length of the interval (in ms)                              // between visual messages to a player in the                              // standard view mode  iRecvStep          = 10;    // recv_step: the length of the interval (in ms)                              // for accepting commands from a player  iHalfTime          = 300;   // half_time: the length (in seconds) of a single                              // game half  iDropBallTime      = 200;   // drop_ball_time: the number of cycles to wait                              // until dropping the ball automatically for free                              // kicks, corner kicks, etc.  // speech-related parameters  iSayMsgSize        = 512;   // say_msg_size: the maximum length (in bytes) of                              // a spoken message  // offside-related parameters  bUseOffside            = true; // use_offside: a boolean flag indicating                                 // whether the offside rule should be applied                                 // or not  dOffsideActiveAreaSize = 5.0;  // offside_active_area_size: offside active                                 // area size, i.e. radius of circle around                                 // the ball in which player can be offside  bForbidKickOffOffside  = true; // forbid_kick_off_offside: a boolean flag                                 // indicating whether a kick from offside                                 // position is allowed  dOffsideKickMargin     = 9.15; // offside_kick_margin: offside kick margin                                 // i.e. the minimum distance to the ball for                                 // offending players when a free kick for                                 // offside is taken  // log-related parameters  bVerbose           = false; // verbose: flag indicating whether verbose mode                              // is active or not; in verbose mode server sends                              // extra error-information  iRecordVersion     = 3;     // record_version: the type of log record  bRecordLog         = true;  // record_log: flag indicating whether log record                              // for game should be created  bSendLog           = true;  // send_log: flag indicating whether send client                              // command log for game should be created  bLogTimes          = false; // log_times: flag indicating whether ms should                               // be written between cycles in log file  strcpy( strLogFile, "server.log" );// server log to store all actions receiv  bSynchMode         = false; // synch_mode: in synchronization mode?  bFullStateL        = false; // fullstate_l, full information left team  bFullStateR        = false; // fulstate_r, full information right team    // heterogeneous player parameters from player.conf  iPlayerTypes              = 7;     // player_types: the number of player type                                     // including the default player type  iSubsMax                  = 3;     // subs_max: the maximum number of                                     // substitutions allowed during a game the                                     // value also indicates the maximum number                                     // of players allowed for each type  dPlayerSpeedMaxDeltaMin   = 0.0;   // player_speed_max_delta_min: minimum                                     // delta for adjusting player_speed_max  dPlayerSpeedMaxDeltaMax   = 0.0;   // player_speed_max_delta_max: maximum                                     // delta for adjusting player_speed_max  dStaminaIncMaxDeltaFactor = 0.0;   // stamina_inc_max_delta_factor: amount by                                     // which delta is multiplied for                                     // stamina_inc_max  dPlayerDecayDeltaMin      = 0.0;   // player_decay_delta_min: minimum delta                                     // for adjusting player_decay  dPlayerDecayDeltaMax      = 0.2;   // player_decay_delta_max: maximum delta                                     // for adjusting player_decay  dInertiaMomentDeltaFactor = 25.0;  // inertia_moment_delta_factor: amount by                                     // which delta is multiplied for                                     // inertia_moment  dDashPowerRateDeltaMin    = 0.0;   // dash_power_rate_delta_min: min delta                                     // for adjusting dash_power_rate  dDashPowerRateDeltaMax    = 0.0;   // dash_power_rate_delta_max: max delta                                     // for adjusting dash_power_rate  dPlayerSizeDeltaFactor    = -100.0;// player_size_delta_factor: amount delta                                     // is multiplied by for player_size  dKickableMarginDeltaMin   = 0.0;   // kickable_margin_delta_min: min delta                                     // for adjusting kickable_margin  dKickableMarginDeltaMax   = 0.2;   // kickable_margin_delta_max: max delta                                     // for adjusting kickable_margin  dKickRandDeltaFactor      = 0.5;   // kick_rand_delta_factor: amount delta is                                     // multiplied by for kick_rand  dExtraStaminaDeltaMin     = 0.0;   // extra_stamina_delta_min: minimum delta                                     // for adjusting extra_stamina  dExtraStaminaDeltaMax     = 100.0; // extra_stamina_delta_max: maximum delta                                     // for adjusting extra_stamina  dEffortMaxDeltaFactor     = -0.002;// effort_max_delta_factor: amount delta                                      // is multiplied by for effort_max  dEffortMinDeltaFactor     = -0.002;// effort_min_delta_factor: amount delta                                     // is multiplied by for effort_min  dNewDashPowerRateDeltaMin = 0.0;   // dash_power_rate_delta_min: minimum                                      // delta for adjusting dash_power_rate  dNewDashPowerRateDeltaMax = 0.002; // dash_power_rate_delta_max: maximum                                      // delta for adjusting dash_power_rate  dNewStaminaIncMaxDeltaFactor=-100000.0;// stamina_inc_max_delta_factor: 	                             // amount by which delta is multiplied for                                     // stamina_inc_max  // important server parameters not in server.conf or player.conf  dEffortMax         = 1.0; // effort_max: maximum player effort capacity  iSlowDownFactor    = 1;   // slow_down_factor: factor to slow down simulator                            // and send intervals  dVisibleDistance   = 3.0; // visible_distance: distance within which objects                            // are always 'visible' even when not in view cone)  dExtraStamina      = 0.0; // extra_stamina: extra stamina for heterogeneous                            // player  // penalty parameters  dPenDistX          = 11.0;         // pen_dist_x: distance ball from goal  dPenMaxGoalieDistX = 4.0;          // pen_goalie_max_dist_x: maximum distance                                     // for goalie during penalties  bPenAllowMultKicks = false;        // pen_allow_mult_kicks: can penalty                                      // kicker kick multiple times  // tackle parameters  dTackleDist        = 2.0;          // tackle_dist: allowed distance in front   dTackleBackDist    = 0.5;          // tackle_back_dist: allowed distance back  dTackleWidth       = 1.0;          // tackle_width: allowed distance side  dTackleExponent    = 6;            // tackle_exponent: exponent need   iTackleCycles      = 10;           // tackle_cycles: cycles immobile   dTacklePowerRate   = 0.027;        // tackle_power_rate: power rate tackle  // parameters which depend on other values  dMaximalKickDist = dKickableMargin +   // the maximum distance from a player                     dPlayerSize +       // for which the ball is kickable                     dBallSize;  // add all the settings, i.e. each parameter  // becomes a new generic value for the class  // goal-related parameters  addSetting( "goal_width"        , &dGoalWidth       , GENERIC_VALUE_DOUBLE );