/*Brainstormers 2D (Soccer Simulation League 2D)PUBLIC SOURCE CODE RELEASE 2005Copyright (C) 1998-2005 Neuroinformatics Group,                        University of Osnabrueck, GermanyThis program is free software; you can redistribute it and/ormodify it under the terms of the GNU General Public Licenseas published by the Free Software Foundation; either version 2of the License, or (at your option) any later version.This program is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without even the implied warranty ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See theGNU General Public License for more details.You should have received a copy of the GNU General Public Licensealong with this program; if not, write to the Free SoftwareFoundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.*/#include "bs03_view_bmv.h"#include "tools.h"#include "options.h"#include "ws_info.h"#include "log_macros.h"#include "blackboard.h"#define VIEW_NORMAL_TRESHOLD (14*ServerOptions::slow_down_factor)                                   // see message must arrive earlier than this to enable                                 // normal view angle!                                 // the server's slow down factor is also taken                                 // into consideration                                 #define BASELEVEL 3bool BS03View::initialized=false;BS03View::BS03View() {  init_state=0;  last_normal=-1;  lowq_counter = 0;  missed_commands  = 0;  cyc_cnt = 0;  //missed_sees = 0;}bool BS03View::get_cmd(Cmd & cmd){  if(WSinfo::ws->ms_time_of_see < 0 ) { // ignore_see, so no view behavior...    LOG_POL(BASELEVEL+1,<<"BS03View: See messages are being ignored, thus we don't use a view behavior.");    change_view(cmd,WSinfo::ws->view_angle,WSinfo::ws->view_quality); // set Blackboard    return false;  }  cyc_cnt++;  LOG_POL(BASELEVEL+2,<<"BS03View: Time of see is "<<time_of_see());  LOG_POL(BASELEVEL+3,<<"BS03View: ms_sb: "<<WSinfo::ws->ms_time_of_sb	  <<", ms_see: "<<WSinfo::ws->ms_time_of_see<<", cyc_cnt: "<<cyc_cnt);  if(WSinfo::ws->time % 500 == 5 || WSinfo::ws->time == 5999) {    if(missed_commands>0) {      ERROR_OUT << "\nBS03View [p="<<WSinfo::me->number<<" t="<<WSinfo::ws->time		<<"]: Missed "<<missed_commands<<" change_view within the last 500 cycles!";    }  }  if(WSinfo::ws->view_quality == Cmd_View::VIEW_QUALITY_LOW) lowq_cycles++;  else lowq_cycles=0;  if(WSinfo::ws->play_mode==PM_PlayOn) Blackboard::force_highq_view=false;    if(WSinfo::ws->ms_time_of_see<WSinfo::ws->ms_time_of_sb) {    //ERROR_OUT << "\nMissed a see command!";    LOG_POL(BASELEVEL,<<"BS03View: Missed a see command!");  }  switch(init_state) {  case 0:  // need to start synching!     LOG_POL(BASELEVEL+0,<<"BS03View: Still initialising synching sequence.");    if ( time_of_see() > (10*ServerOptions::slow_down_factor) )       init_state=1;    change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_LOW);    return true;    break;  case 1:    LOG_POL(BASELEVEL+0,<<"BS03View: Synching to sense_body in progress...");    if(can_view_normal_strict()) {  // we are synched now, so start normal behaviour!      init_state=2;      LOG_POL(BASELEVEL+0,<<"BS03View: Synching complete, starting normal behaviour!");      last_normal=WSinfo::ws->time;      change_view(cmd,Cmd_View::VIEW_ANGLE_NORMAL,Cmd_View::VIEW_QUALITY_HIGH);      cyc_cnt=0;      return true;    }    if(WSinfo::ws->play_mode==PM_PlayOn) {      LOG_POL(BASELEVEL+0,<<"BS03View: play_on, stop synching!");      change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_HIGH);      return true;    }    if(Blackboard::force_highq_view) {      LOG_POL(BASELEVEL+0,<<"BS03View: force_highq_view set, stop synching!");      change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_HIGH);      return true;    }    if(WSinfo::ws->play_mode==PM_my_BeforePenaltyKick       || WSinfo::ws->play_mode==PM_his_BeforePenaltyKick       || WSinfo::ws->play_mode==PM_my_PenaltyKick       || WSinfo::ws->play_mode==PM_his_PenaltyKick) {      LOG_POL(BASELEVEL+0,<<"BS03View: penalty mode, no synching...");      change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_HIGH);      return true;    }    change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_LOW);    return true;    break;      case 2:    if(    ClientOptions::consider_goalie         && (WSinfo::me->pos-WSinfo::ball->pos).norm() > 30        && (   time_of_see()==0             || time_of_see()==(50*ServerOptions::slow_down_factor)))     {      LOG_POL(BASELEVEL+1,<<"BS03View in goalie mode: Ball far away, using normal width");      last_normal=WSinfo::ws->time;      change_view(cmd,Cmd_View::VIEW_ANGLE_NORMAL,Cmd_View::VIEW_QUALITY_HIGH);      return true;    }     else     {       if (time_of_see() >= (68*ServerOptions::slow_down_factor)           /*&& WSinfo::view_angle!=Cmd_View::VIEW_ANGLE_WIDE*/)        {	// Message should never arrive that late - out of sync!		init_state=1;		LOG_POL(BASELEVEL+0,<<"BS03View: See message too late -> out of sync!");		change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_HIGH);		return true;       }       if(can_view_normal())        {           LOG_POL(BASELEVEL+1,<<"BS03View: Switching to normal (t="<<WSinfo::ws->time<<")");         last_normal=WSinfo::ws->time;         change_view(cmd,Cmd_View::VIEW_ANGLE_NORMAL,Cmd_View::VIEW_QUALITY_HIGH);         return true;       }        else        {	//if(mdpInfo::play_mode()==MDPstate::PM_PlayOn && !mdpInfo::am_I_goalie() &&	//   (WSinfo::ws->time_of_last_update!=WSinfo::ws->time || ms_time_since_sb()>70)) {	//  LOG_POL(2,<<"BS03_View: WARNING: See message apparently arrived later than 70 ms!");	  //cerr <<"BS03_View: WARNING: See message apparently arrived later than 70 ms!";	//}	//init_state=1;	//return change_view(Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_LOW);	//} else {		LOG_POL(BASELEVEL+1,<<"BS03View: Switching to narrow.");		if(   WSinfo::ws->time-last_normal>20 		   && WSinfo::ws->play_mode!=PM_PlayOn		   && !Blackboard::force_highq_view		   && ! (    WSinfo::ws->play_mode==PM_my_BeforePenaltyKick    			  || WSinfo::ws->play_mode==PM_his_BeforePenaltyKick				  || WSinfo::ws->play_mode==PM_my_PenaltyKick 				  || WSinfo::ws->play_mode==PM_his_PenaltyKick) )   // 10	    {		  LOG_POL(BASELEVEL+0,<<"BS03View: Could not switch to normal view since more than 20 cycles!");		  LOG_POL(BASELEVEL+0,<<"BS03View: Out of sync? Synching again (not in play_on mode).");		  //cerr << "\n\n#"<<WSinfo::me->number<<" PROBLEM mit BS03_View";		  init_state=1;		  change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_LOW);		  return true;		}    	change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_HIGH);    	return true;	//}      }    }    break;  case 4:  // new mode: do not check every cycle!  * DOES NOT WORK *    if ( cyc_cnt % 3==0 ) {      change_view(cmd,Cmd_View::VIEW_ANGLE_NORMAL,Cmd_View::VIEW_QUALITY_HIGH);      return true;    }     else     {      change_view(cmd,Cmd_View::VIEW_ANGLE_NARROW,Cmd_View::VIEW_QUALITY_HIGH);      return true;    }    break;  }  return false;}void BS03View::change_view(Cmd &cmd,int width, int quality) {  if(quality==Cmd_View::VIEW_QUALITY_LOW) {    Blackboard::set_last_lowq_cycle(WSinfo::ws->time);  }   //if(WSinfo::ws->view_quality==Cmd_View::VIEW_QUALITY_HIGH) {  //  Blackboard::set_last_ball_pos(WSinfo::ball->pos);  //}  if(WSinfo::is_ball_pos_valid() && WSinfo::ball->age<=1) {    Blackboard::set_last_ball_pos(WSinfo::ball->pos);  }  if(WSinfo::ws->ms_time_of_see >= 0) {  // ignore_see, thus nothing happens here    if(WSinfo::ws->time>0 && WSinfo::ws->view_angle!=next_view_width) {      LOG_ERR(0,<<"BS03View: WARNING: Server missed a change_view!");      missed_commands++;      //ERROR_OUT << "\n### Player "<<WSinfo::me->number<<", Cycle "<<WSinfo::ws->time      //		<<": Probably missed a change_view command!";    }#if 0    // this check is not needed and counter productive in chaotic environments...     if(width==Cmd_View::VIEW_ANGLE_NORMAL && !ClientOptions::consider_goalie        && WSinfo::ws->view_angle==Cmd_View::VIEW_ANGLE_NORMAL) {   // niemals zweimal NORMAL!      ERROR_OUT << "\n### Player "<<WSinfo::me->number<<", Cycle "<<WSinfo::ws->time		<< ": Why should I view NORMAL again? Ignoring!";      width=Cmd_View::VIEW_ANGLE_NARROW;    }#endif    // now check if we are synching too long due to network problems...    if(quality == Cmd_View::VIEW_QUALITY_LOW) {      if(lowq_counter-->0) {	LOG_POL(BASELEVEL+0,<<"BS03View: Still waiting some cycles before switching to low again!");	quality = Cmd_View::VIEW_QUALITY_HIGH;      }      else if(lowq_cycles>10) {	LOG_ERR(0,<<"BS03View: WARNING: More than 10 cycles in low quality, ignoring!");	ERROR_OUT << "\n###Player "<<WSinfo::me->number<<", Cycle "<<WSinfo::ws->time		  << ": Could not sync (network probs?), switching to HIGH!";	lowq_counter = 8;  // cycles to wait before next LOW	quality = Cmd_View::VIEW_QUALITY_HIGH;      }    } else {      lowq_counter = 0;    }  }  next_view_width = width;  Blackboard::set_next_view_angle_and_quality(width,quality);  LOG_POL(BASELEVEL+0,<<"BS03View: Setting width "<<width<<", quality "<<quality);  if(WSinfo::ws->view_angle!=width || WSinfo::ws->view_quality!=quality) {    cmd.cmd_view.set_angle_and_quality(width,quality);  }}/** * The method time_of_see() returns a value in MILLISECONDS that tells * about the difference between the arrival time of the last see message * and sense-body message received. *  * The normal case is, that the see message arrived AFTER the sense-body * message. In this case, simply the difference between both arrival times * is returned. *  * In case that the last message received was a sense-body message, the * difference see-sb will be negative. Here, a constant c is added to that * negative value (so that in turn the value returned will be positive). * The constant c is determined via function get_delay() which tells about * the actual frequency of see messages arriving from the server. */int BS03View::time_of_see() {  int tos;  long sb = WSinfo::ws->ms_time_of_sb;  long see = WSinfo::ws->ms_time_of_see;  //if(WSinfo::ws->time==WSinfo::ws->time_of_last_update) {  if(see>=sb)     tos = see-sb;  else     tos = see - sb + (int)get_delay();  //return ((tos+5)/10)*10;  return tos;}Value BS03View::get_delay() {  Value view_delay=0;  switch(WSinfo::ws->view_angle)   {    case Cmd_View::VIEW_ANGLE_NARROW:      view_delay = 75*ServerOptions::slow_down_factor;      break;    case Cmd_View::VIEW_ANGLE_NORMAL:      view_delay = 150*ServerOptions::slow_down_factor;      break;    case Cmd_View::VIEW_ANGLE_WIDE:      view_delay = 300*ServerOptions::slow_down_factor;      break;  }  switch(WSinfo::ws->view_quality)   {    case Cmd_View::VIEW_QUALITY_LOW:      view_delay/=2.0;  }  return view_delay;}bool BS03View::can_view_normal() {  if(time_of_see()<VIEW_NORMAL_TRESHOLD) return true;  else return false;}bool BS03View::can_view_normal_strict() {  if (time_of_see() < (8*ServerOptions::slow_down_factor))     return true;  else return false;}