README=====Computer Science DepartmentCarnegie Mellon UniversityPittsburgh, PA  USAWinner of RoboCup99 - Simulation LeagueCopyright 1999 Peter Stone, Patrick Riley, Manuela Veloso			(All rights reserved)This directory contains the source code for the low-level skills ofthe CMUnited99 simulator team.You may need to alter the Makefile for your architecture.  It has beentested under SunOS and under Linux.  To compile, first to "gmake depend", then do "gmake"To start one agent, type './start <servername> <teamname>' where<servername> is the name of the machine running the server.To start more than one player at a time, you can alter the start scriptor call it multiple times.This directory contains:+ A Makefile+ the source code (*.[Ch])+ a client configuration file (client.conf)+ the server configuration file (server.conf)+ 2 start scripts (start and fast-start)+ this README file+ CMUnited-99-sim.ps.Z: an article describing some of the features of  the CMUnited-99 team  The point of this code is to help people get past the low-levelimplementation details involved in using the soccer server (version5.x).  You may use the code, but please keep the copyright noticesattached and keep track of what ideas you are using from this code.Papers describing our higher level algorithms, including the one inthis directory, are available from our project web page (see below).We are providing this code as-is, with no support provided.  However,we would be interested in hearing from you regarding how easily youwere able to compile, run, and use the code.To test out our sample behaviors, see the instructions in the "behave"function in behave.CIf you see many errors of the form: > PETER's ERROR (player 9, time 354.0): Server missed a turn at time 353Then the clients are not able to keep up with the server speed.(occasional errors of this type are OK)There are two possible solutions.1)  Distribute the server and clients among more and/or faster machines2)  Slow down the server by increasing simulator_step and send_step in    server.conf.  If you do this, make sure that they stay in the same    ratio and make sure that the simulator and clients are reading the    same server.conf file.For further information see:	http://www.cs.cmu.edu/~robosoccerTo contact us write an email to:	pstone@cs.cmu.edu==================================================================================Relation to CMUnited-98==================================================================================CMUnited-99 is based closely on CMUnited-98.  The most relevanthigh-level changes are described in the paper that can be found inthis directory.  However, many minor changes were also made in theagents' low-level skills.  Support is also added for neck-turning.This code release can be seen as a version-up of the CMUnited-98source code release.==================================================================================Following is some limited documenation regarding the code's structure.==================================================================================------------------General structure:------------------The client keeps its view of the world in a big "Memory" structure	defined in Mem*.[Ch]The action to be sent to the server is chosen in 	{behave,kick,dribble,test}.Ch.  The top-level action function	is behave() defined in behave.C------------------------Overall flow of control:------------------------all in client.CWhen the timer expires (every SP_simulator_step/CP_senses_per_cycle)	-- block IO	-- when time changes, update all object states to match 		the current server time as well as possible, act	-- if time is the same and there's a  turn-neck command	-- if time is the same (or no action), communicate,		change_view, or sense_body	-- (don't communicate more than once every n cycles)	-- unblock IO(In the current version of the simulator, all commands can be sent at once). When a sensation comes:	-- block timer	-- parse it	-- store the information in temporary variables for later		update (see above)	-- unblock timer	-- choose communcations in response and/or to coach------------------------Timing------------------------Time is represented as two integers:  	t = server time 	s = # cycles the clock's been stopped (incremented as the					       action timer goes off)addition and subtraction are defined to take into account the stoppedcycles.  But only the last time the clock restarted is stored.  Soyou can't subtract arbitrarily far back or add beyond the currenttime.LastStartClockTime is set to be the time of the final actionopportunity before the mode changed away from PM_Before_Kick_Off.One glitch is the transition from server time to stopped-clock time.Some sights may have already occurred at the subsequent stopped-clocktime.  For this reason, sanitize_times must be called on all the timevariables that could have been updated since the last actionopportunity: 	CurrentTime, 	LastSightTime, 	LastSoundTime, 	sense_time,	and all the times of temporary sight and sound info variables.Sanitize_time just transfers the excess s to t.------------------------Sending actions: ------------------------One structure each for turn/dash/kick/catch, turn-neck, communicate, change_view	-- Running action loop (behave) possibly identifies a single	   turn/dash/kick/catch and a turn-neck.  The former gets priority.	-- If no action, check to see if there's a turn-neck to execute	-- If no action, check memory to see if there's something to say	-- If no communication, execute a pending change_view(In the current version of the simulator, all commands can be sent at once). -------------------------At startup: -------------------------MemOption has all the server, client, and initialize parameters.They can be loaded from a file with the -file flag or from the command line with various flags as indicated in MemOption.C.To add a new option, just need to add it in MemOption.h and in2 places in MemOption.C (one to set the default, one to set the flag).It should be possible to load from more than one file.SP_ is a server parameterCP_ is a client parameterFP_ is a formation parameterVP_ is client version parameterIP_ is initialize parameter-------------------------Object Knowledge representation -------------------------              Object    	 	    /   \	----     ----       /	     \StationaryObject MobileObject		   /   	  \		  /   	   \		 /  	    \	     BallObject   PlayerObject			     Object -- global position stored with confidenceStationaryObject -- nothing addedMobileObject -- add global velocity infoBallObject -- nothing added (except if the ball's kickable)PlayerObject -- add global facing infoWhen seen or heard (from teammate), relative or global info about theobject status is stored with confidences and time stamps in temporaryvariables.When updated, precedence is given to seen information (setsconfidence to 1) unless a teammate saw the object from closer.If no new information arrived, the velocity and actions taken (kick)are used to update the position of the objcet.  Then confidence isdecayed.In PositionInfo, all lines and markers are stored asStationaryObjects.  There is one ball, and several players allocatedas well.  Pointers to seen markers, and players on each team aremaintained.Players are stored in a big array of size 21 (11*2-1).Arrays of pointers into this array representing my players, theirplayers, and teamless players are stored.  Free players are playersin the top array that aren't in any of the others.  Players that are seen without numbers and/or side are stored asunknown players until their positions can be determined based on myposition when they were seen.  Then they are reconciled with closestappropriate players.	Determine the x,y positions, headings, speeds of all players, ball.When relative info needed, convert -------------------------Updating Memory-------------------------PositionInfo updates the global info once a cycle (right beforeaction).  The goal is to match the server's state at the current timeas closely as possible.  If there's a sight, it came from the servereither at the current time or one cycle ago.1. Update my position 	-- if there's a new sight, bring my position up to date for		that time (either now or one cycle ago).	-- from the sight, use the line and closest object to localize	-- use the sensed speed from that time to determine velocity.		Assume velocity is in the direction I'm facing	-- if there's no sight, bring velocity up to date, possibly		using known dashes, then update position, decay		velocity2. Update the ball 	-- if there's a new sight, use my position and the ball's		relative position info to set its position.  Also		update its velocity if moving.  Otherwise check if 		the new position is where it would have been estimated		to see if velocity is correct.		-- if it should be in sight, but isn't, set confidence to 0	-- update its position by estimating, including possible kick		information.  Perhaps only the velocity needs to be 		estimated.	-- if it should be in sight, but isn't, set confidence to 0	-- see if any heard information would increase the confidence		in the ball's position or velocity at this time.  If		so, go for it, estimating the position up to the		current time.	3. Update the players	-- First see if any of the teamless players seen match up with		previously known players	-- do the same update as for the ball, except adding in		information about which way each player is facing	-- If any players are no longer valid, free up the pointers		appropriately4. Update my position to the current time	-- at this point it might only be known to the previous time		step so that the relative ball and player positions		would be correct.  If so, estimate the final step.5. Update my stamina based on dashes taken, effort decays, and sensed		info-------------------------Parsing -------------------------Find the closest flag and visible line for angle knowledge.No longer worrying about motion from markers -- using sense_body.Store relative positions of objects, sense_body info, or heard infowith time stamps to be used later when positions are updated.-------------------------Memory structure -------------------------		OptionInfo		PlayerInfo		PositionInfo                ActionInfo                 Memory	      			      OptionInfo to get options     PlayerInfo action queues, time, stamina, game status (score, mode), etc.PositionInfo with all other object positionsActionInfo keep track of action variablesMemory  with all else==================================================================================/* client.C contains the main program loop  * It is partially based on Player.C from the turnballclient of Alessandro Bissacco   *//* netif.C handles the udp socket communication with the server * Based on Noda's sampleclient *//* geometry.C defines several constructs for doing geometric reasoning on the soccer field *//* utils.C implements generic utility functions that are used throughout the program * The Time class allows clients to reason about time progressing even when the  * soccerserver clock is stopped. *//* parse.C parses incoming messages from the server *//* types.h defines types used throughout the program *//* MemOption.C contains all the client parameters * They can be specified as .conf files or command line options in the same style * as for soccerserver.  The code is based on Noda's soccerserver code. * * Parameters starting with SP_ are server parameters.  Most can be read from * the standard server.conf file * * Not all paramters listed here have meaning in the release version of CMUnited99 *//* MemPlayer.C stores all the information relating to the client itself: * position on the field, speed, stamina, etc. *//* MemPosition.C stores all the information relating to other objects on the field: * other players, the ball, markers, etc. *//* MemAction.C contains utility functions for ball interception   Created by Patrick Riley *//* Memory.C contains the top-level Memory class  *//* behave.C is called once every server cycle.   It determines the action to be sent to the server *//* test.C contains functions that demonstrate our client's abilities * They should be called from behave.C *//* kick.C contains functions for kicking the ball   Created by Patrick Riley *//* dribble.C contains functions for dribbling the ball   Created by Patrick Riley */