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226 | #ifndef ROLESPROVIDER_H
#define ROLESPROVIDER_H
#include <ModuleFramework/Module.h>
#include "Representations/Infrastructure/FieldInfo.h"
#include "Representations/Infrastructure/Roles.h"
#include "Tools/Debug/DebugParameterList.h"
#include "Tools/Debug/DebugRequest.h"
BEGIN_DECLARE_MODULE(RolesProvider)
PROVIDE(DebugParameterList)
PROVIDE(DebugRequest)
PROVIDE(DebugDrawings)
REQUIRE(FieldInfo)
PROVIDE(Roles)
END_DECLARE_MODULE(RolesProvider);
class RolesProvider : public RolesProviderBase
{
public:
RolesProvider() : params(this)
{
DEBUG_REQUEST_REGISTER("RoleDecision:Position:defaults:draw_active_home_positions", "draws the ACTIVE home role positions on the field as robot with role name", false);
DEBUG_REQUEST_REGISTER("RoleDecision:Position:defaults:draw_inactive_home_positions", "draws the INACTIVE home role positions on the field as robot with role name", false);
DEBUG_REQUEST_REGISTER("RoleDecision:Position:defaults:draw_active_own_kickoff_positions", "draws the ACTIVE own kickoff role positions on the field as robot with role name", false);
DEBUG_REQUEST_REGISTER("RoleDecision:Position:defaults:draw_inactive_own_kickoff_positions", "draws the INACTIVE own kickoff role positions on the field as robot with role name", false);
DEBUG_REQUEST_REGISTER("RoleDecision:Position:defaults:draw_active_opp_kickoff_positions", "draws the ACTIVE opp kickoff role positions on the field as robot with role name", false);
DEBUG_REQUEST_REGISTER("RoleDecision:Position:defaults:draw_inactive_opp_kickoff_positions", "draws the INACTIVE opp kickoff role positions on the field as robot with role name", false);
getDebugParameterList().add(¶ms);
}
virtual ~RolesProvider()
{
getDebugParameterList().remove(¶ms);
}
virtual void execute()
{
debugDrawings();
}
private:
class Parameters: public ParameterList
{
public:
Parameters(RolesProvider *p): ParameterList("Roles")<--- Class 'Parameters' has a constructor with 1 argument that is not explicit. [+]Class 'Parameters' has a constructor with 1 argument that is not explicit. Such constructors should in general be explicit for type safety reasons. Using the explicit keyword in the constructor means some mistakes when using the class can be avoided.
{
provider = p;
PARAMETER_REGISTER(base_x) = 9000;
PARAMETER_REGISTER(base_y) = 6000;
// x,y home position; x,y own kickoff position; x,y opponent kickoff position
PARAMETER_REGISTER(goalie_str, &Parameters::parsePositionGoalie) = "-4300, 0; -4300, 0; -4300, 0";
PARAMETER_REGISTER(defender_left_str, &Parameters::parsePositionDefenderLeft) = "-2500, 1100; -3000, 800; -3000, 1300";
PARAMETER_REGISTER(defender_center_str, &Parameters::parsePositionDefenderCenter) = "-2500, 0; -3000, 0; -3000, 0";
PARAMETER_REGISTER(defender_right_str, &Parameters::parsePositionDefenderRight) = "-2500,-1100; -3000, -800; -3000, -450";
PARAMETER_REGISTER(midfielder_left_str, &Parameters::parsePositionMidfielderLeft) = " -750, 1500; -1500, 900; -2000, 500";
PARAMETER_REGISTER(midfielder_center_str,&Parameters::parsePositionMidfielderCenter)= " -750, 0; -1500, 300; -2000, 300";
PARAMETER_REGISTER(midfielder_right_str, &Parameters::parsePositionMidfielderRight) = " -750,-1500; -1500, -900; -2000, -500";
PARAMETER_REGISTER(forward_left_str, &Parameters::parsePositionForwardLeft) = " 1500, 1500; -500, 1500; -1000, 750";
PARAMETER_REGISTER(forward_center_str, &Parameters::parsePositionForwardCenter) = " 1500, 0; -500, 0; -1100, 0";
PARAMETER_REGISTER(forward_right_str, &Parameters::parsePositionForwardRight) = " 1500,-1500; -500,-1500; -1000, -750";
PARAMETER_REGISTER(active_str, &Parameters::parseActive) = "goalie;defender_left;forward_center;defender_right;midfielder_center"; //"all";
// load from the file after registering all parameters
syncWithConfig();
}
RolesProvider* provider;
double base_x;
double base_y;
std::string goalie_str;
std::string defender_left_str;
std::string defender_center_str;
std::string defender_right_str;
std::string midfielder_left_str;
std::string midfielder_center_str;
std::string midfielder_right_str;
std::string forward_left_str;
std::string forward_center_str;
std::string forward_right_str;
std::string active_str;
void parsePositionGoalie(std::string pos) { parsePosition(pos, Roles::goalie); }
void parsePositionDefenderLeft(std::string pos) { parsePosition(pos, Roles::defender_left); }
void parsePositionDefenderCenter(std::string pos) { parsePosition(pos, Roles::defender_center); }
void parsePositionDefenderRight(std::string pos) { parsePosition(pos, Roles::defender_right); }
void parsePositionMidfielderLeft(std::string pos) { parsePosition(pos, Roles::midfielder_left); }
void parsePositionMidfielderCenter(std::string pos) { parsePosition(pos, Roles::midfielder_center); }
void parsePositionMidfielderRight(std::string pos) { parsePosition(pos, Roles::midfielder_right); }
void parsePositionForwardLeft(std::string pos) { parsePosition(pos, Roles::forward_left); }
void parsePositionForwardCenter(std::string pos) { parsePosition(pos, Roles::forward_center); }
void parsePositionForwardRight(std::string pos) { parsePosition(pos, Roles::forward_right); }
void parsePosition(std::string& positions, Roles::Static role)
{
auto& r = provider->getRoles().defaults[role];
std::vector<std::string> parts = naoth::StringTools::split(positions, ';');
ASSERT(parts.size() == 3);
std::vector<std::string> pos_part;
pos_part = naoth::StringTools::split(parts[0], ',');
ASSERT(pos_part.size() == 2);
r.home.x = std::stod(pos_part[0]) / base_x * provider->getFieldInfo().xLength;
r.home.y = std::stod(pos_part[1]) / base_y * provider->getFieldInfo().yLength;
pos_part = naoth::StringTools::split(parts[1], ',');
ASSERT(pos_part.size() == 2);
r.own.x = std::stod(pos_part[0]) / base_x * provider->getFieldInfo().xLength;
r.own.y = std::stod(pos_part[1]) / base_y * provider->getFieldInfo().yLength;
pos_part = naoth::StringTools::split(parts[2], ',');
ASSERT(pos_part.size() == 2);
r.opp.x = std::stod(pos_part[0]) / base_x * provider->getFieldInfo().xLength;
r.opp.y = std::stod(pos_part[1]) / base_y * provider->getFieldInfo().yLength;
}
/**
* @brief If the 'active' parameter changes, the new value is parsed and the new active
* roles are applied. The "all" shortcut is used to activate all roles otherwise
* all roles which should be activated are listed and seperated by a ';'.
* Eg.: "goalie;defender_left;forward_center"
*
* @param active the new roles to activate
*/
void parseActive(std::string a) {
// clear the 'old' active roles before pushing the new
provider->getRoles().active.clear();
if(a.compare("all") == 0) {
// user all static roles, but ignore the "unknown" one
for(int i = 0; i < Roles::numOfStaticRoles-1; ++i)
{
provider->getRoles().active.push_back(static_cast<Roles::Static>(i));
}
} else {
// only use the defined roles
std::vector<std::string> parts = naoth::StringTools::split(a, ';');
for(const std::string& part : parts) {
Roles::Static r = Roles::getStaticRole(part);
ASSERT_MSG(Roles::unknown != r, "Role is unknown: '" + part + "'");
provider->getRoles().active.push_back(r);
}
}
}
} params;
void inline debugDrawings()
{
DEBUG_REQUEST("RoleDecision:Position:defaults:draw_active_home_positions",
FIELD_DRAWING_CONTEXT;
for(const auto& r : getRoles().defaults) {
if(getRoles().isRoleActive(r.first)) {
PEN("0000ff", 20);
ROBOT(r.second.home.x, r.second.home.y, 0);
TEXT_DRAWING2(r.second.home.x, r.second.home.y-250, 0.6, Roles::getName(r.first));
}
}
);
DEBUG_REQUEST("RoleDecision:Position:defaults:draw_inactive_home_positions",
FIELD_DRAWING_CONTEXT;
for(const auto& r : getRoles().defaults) {
if(!getRoles().isRoleActive(r.first)) {
PEN("0000ff", 20);
ROBOT(r.second.home.x, r.second.home.y, 0);
TEXT_DRAWING2(r.second.home.x, r.second.home.y-250, 0.6, Roles::getName(r.first));
}
}
);
DEBUG_REQUEST("RoleDecision:Position:defaults:draw_active_own_kickoff_positions",
FIELD_DRAWING_CONTEXT;
for(const auto& r : getRoles().defaults) {
if(getRoles().isRoleActive(r.first)) {
PEN("0000ff", 20);
ROBOT(r.second.own.x, r.second.own.y, 0);
TEXT_DRAWING2(r.second.own.x, r.second.own.y-250, 0.6, Roles::getName(r.first));
}
}
);
DEBUG_REQUEST("RoleDecision:Position:defaults:draw_inactive_own_kickoff_positions",
FIELD_DRAWING_CONTEXT;
for(const auto& r : getRoles().defaults) {
if(!getRoles().isRoleActive(r.first)) {
PEN("0000ff", 20);
ROBOT(r.second.own.x, r.second.own.y, 0);
TEXT_DRAWING2(r.second.own.x, r.second.own.y-250, 0.6, Roles::getName(r.first));
}
}
);
DEBUG_REQUEST("RoleDecision:Position:defaults:draw_active_opp_kickoff_positions",
FIELD_DRAWING_CONTEXT;
for(const auto& r : getRoles().defaults) {
if(getRoles().isRoleActive(r.first)) {
PEN("0000ff", 20);
ROBOT(r.second.opp.x, r.second.opp.y, 0);
TEXT_DRAWING2(r.second.opp.x, r.second.opp.y-250, 0.6, Roles::getName(r.first));
}
}
);
DEBUG_REQUEST("RoleDecision:Position:defaults:draw_inactive_opp_kickoff_positions",
FIELD_DRAWING_CONTEXT;
for(const auto& r : getRoles().defaults) {
if(!getRoles().isRoleActive(r.first)) {
PEN("0000ff", 20);
ROBOT(r.second.opp.x, r.second.opp.y, 0);
TEXT_DRAWING2(r.second.opp.x, r.second.opp.y-250, 0.6, Roles::getName(r.first));
}
}
);
}
};
#endif // ROLESPROVIDER_H
|