Initialization

BaseAgent.cpp

@@ -0,0 +1,513 @@
+
+#include "stdafx.h"
+#include "Agentsock.h"
+#include <iostream>
+#include "MicroClientDoc.h"
+#include "TParseString.h"
+#include "StrategySystem.h"
+#include "BaseAgent.h"
+#ifdef _DEBUG
+#undef THIS_FILE
+static char THIS_FILE[] = __FILE__;
+#define new DEBUG_NEW
+#endif
+extern Robot2 r[2][11];
+extern Robot3 op;
+extern Robot1 theball;
+extern CStrategySystem *thePlannerR;
+extern CStrategySystem *thePlannerL;
+
+// extern FILE* fp;
+#define MAX_MSG_LENGTH 1500
+CBaseAgent::CBaseAgent() {
+	m_bConnected = FALSE;
+	m_iSide = LEFT_TO_RIGHT;
+	m_iNumber = 0;
+}
+
+CBaseAgent::CBaseAgent(CMicroClientDoc *m_Doc) {
+	m_pDoc = m_Doc;
+	m_bConnected = FALSE;
+	m_iSide = LEFT_TO_RIGHT;
+	m_iNumber = 0;
+}
+CBaseAgent::~CBaseAgent() {
+	DisconnectAgent();
+}
+
+BOOL CBaseAgent::ConnectAgent(LPCTSTR lpszTeam, LPCTSTR lpszServer, UINT nPort) {
+	// is the agent already connected (should not happen)
+	if (m_bConnected)
+		return FALSE;
+
+	// create the datagram socket
+	if (!Create(nPort, lpszServer)) {
+		// socket could not be created
+		OnErrorCreatingSocket();
+		return FALSE;
+	}
+	else {
+		m_bConnected = TRUE;
+		m_strTeam = lpszTeam;
+		OnCreatedSocket();
+		Sleep(100);
+		return TRUE;
+	}
+}
+void CBaseAgent::OnCreatedSocket() {
+	CString message;
+
+	// send the (init team) command
+	message.Format("(init %s (version 4.00))", (LPCTSTR)m_strTeam);
+	SendMsg(message);
+}
+
+void CBaseAgent::DisconnectAgent() {
+	// is the socket active ?
+	if (m_bConnected) {
+		BYTE Buffer[50];
+
+		ShutDown();
+		while (Receive(Buffer, 50) > 0)
+			;
+		Close();
+	}
+	m_bConnected = FALSE;
+}
+
+void CBaseAgent::SendMsg(CString &strText) {
+	int iLength;
+
+	// send the buffer
+	iLength = SendTo(strText, strText.GetLength(), GetPort(), GetAddress(), 0);
+	if (iLength == strText.GetLength())
+		OnSentMessage((LPCTSTR)strText);
+	else {
+// an error occured
+#ifdef _DEBUG
+		afxDump << "error writing to socket\n";
+#endif
+		OnErrorSendingMessage();
+	}
+}
+
+void CBaseAgent::OnReceive(int iError) {
+	char buffer[MAX_MSG_LENGTH];
+	int iLength = 0;
+	UINT iPort = GetPort();
+	int iPosition = 0;
+
+	// first call base classes method
+	CAgentSocket::OnReceive(iError);
+
+	// read a message from the socket
+	iLength = ReceiveFrom(buffer, MAX_MSG_LENGTH, GetAddress(), iPort, 0);
+	// the port may have changed
+	SetPort(iPort);
+
+	if (iLength > 0) {
+		// OnReceivedMessage((LPCTSTR) buffer);
+		ParseMessage((LPCTSTR)buffer);
+		if (m_iSide == LEFT_TO_RIGHT) {
+			thePlannerL->ReceiveData(theball, r[0][0], r[0][1], r[0][2], r[0][3], r[0][4],
+				r[0][5], r[0][6], r[0][7], r[0][8], r[0][9], r[0][10], op);
+			thePlannerL->Action();
+		}
+		else if (m_iSide == RIGHT_TO_LEFT) {
+			thePlannerR->ReceiveData(theball, r[0][0], r[0][1], r[0][2], r[0][3], r[0][4],
+				r[0][5], r[0][6], r[0][7], r[0][8], r[0][9], r[0][10], op);
+			thePlannerR->Action();
+		}
+		SendCommand();
+	}
+	else {
+// an error occured
+#ifdef _DEBUG
+		afxDump << "error reading socket\n";
+#endif
+		OnErrorReceivingMessage();
+	}
+}
+
+void CBaseAgent::ParseMessage(LPCTSTR str) {
+	switch (str[1]) {
+	case 's':
+		if (str[3] == 'e')
+
+			ParseSee(str);
+		break;
+	case 'i':
+		AfxMessageBox("Init successful");
+		ParseInit(str);
+		break;
+	}
+	// return TRUE;
+}
+
+void CBaseAgent::ParseInit(LPCTSTR str) {
+
+	TParseString msg(str);
+	CString tmp;
+	//	int				number;
+
+	// get the side
+	if ((msg.GetLength() > 6) && (msg.GetAt(6) == 'r')) {
+		AfxMessageBox("right right");
+		SetSide(RIGHT_TO_LEFT);
+	}
+	else {
+		SetSide(LEFT_TO_RIGHT);
+	}
+
+	// return TRUE;
+}
+
+void CBaseAgent::ParseSee(LPCTSTR str) {
+	TParseString msg(str);
+	TParseString strObject;
+
+	msg.SetPosition(5);
+	m_iTime = msg.ParseInteger();
+	if (msg.HasErrorOccured())
+		return;
+
+	while (msg.ParseBracket(strObject)) {
+		if (!ParseObject(strObject)) {
+#ifdef _DEBUG
+			CString error;
+			error.Format(" : error parsing object info at position %d !\n", strObject.GetPosition());
+			afxDump << error << strObject;
+#endif
+		}
+	}
+}
+
+BOOL CBaseAgent::ParseObject(LPCTSTR str) {
+	TParseString msg(str);
+	TParseString name;
+	CString teamname;
+	int team;
+	int iNum;
+	int x;
+	int y;
+	double angle;
+
+	// read the objects name bracket
+	if (!msg.ParseBracket(name)) // name="player TeamName TeamNum"
+		return FALSE;
+	x = msg.ParseInteger();
+	if (msg.HasErrorOccured()) {
+	}
+	y = msg.ParseInteger();
+	if (msg.HasErrorOccured()) {
+	}
+	angle = msg.ParseDouble();
+	if (msg.HasErrorOccured()) {
+	}
+	switch (name.GetAt(0)) {
+	// it is a player
+	case 'P':
+	case 'p':
+		name.SetPosition(7);
+		// read the teamname
+		if (name.ParseString(teamname)) {
+			// ist it my team ?
+			if (teamname.Compare(_T(name)) == 0)
+				team = OWN_TEAM;
+			else
+				team = OTHER_TEAM;
+
+			// read player number
+			iNum = name.ParseInteger();
+			if (msg.HasErrorOccured()) {
+			}
+		}
+		switch (iNum) {
+		case 1:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][0].position.x = x;
+				r[0][0].position.y = y;
+				r[0][0].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position1.x = x;
+				op.position1.y = y;
+			}
+			break;
+		case 2: // 左方二号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][1].position.x = x;
+				r[0][1].position.y = y;
+				r[0][1].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position2.x = x;
+				op.position2.y = y;
+			}
+			break;
+		case 3: // 左方三号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][2].position.x = x;
+				r[0][2].position.y = y;
+				r[0][2].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position3.x = x;
+				op.position3.y = y;
+			}
+			break;
+		case 4: // 左方四号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][3].position.x = x;
+				r[0][3].position.y = y;
+				r[0][3].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position4.x = x;
+				op.position4.y = y;
+			}
+			break;
+		case 5: // 左方五号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][4].position.x = x;
+				r[0][4].position.y = y;
+				r[0][4].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position5.x = x;
+				op.position5.y = y;
+			}
+			break;
+		case 6: // 左方六号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][5].position.x = x;
+				r[0][5].position.y = y;
+				r[0][5].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position6.x = x;
+				op.position6.y = y;
+			}
+			break;
+		case 7: // 左方七号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][6].position.x = x;
+				r[0][6].position.y = y;
+				r[0][6].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position7.x = x;
+				op.position7.y = y;
+			}
+			break;
+		case 8: // 左方八号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][7].position.x = x;
+				r[0][7].position.y = y;
+				r[0][7].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position8.x = x;
+				op.position8.y = y;
+			}
+			break;
+		case 9: // 左方九号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][8].position.x = x;
+				r[0][8].position.y = y;
+				r[0][8].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position9.x = x;
+				op.position9.y = y;
+			}
+			break;
+		case 10: // 左方十号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][9].position.x = x;
+				r[0][9].position.y = y;
+				r[0][9].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position10.x = x;
+				op.position10.y = y;
+			}
+			break;
+		case 11: // 左方十一号队员的坐标
+			if (m_iSide == LEFT_TO_RIGHT) {
+				r[0][10].position.x = x;
+				r[0][10].position.y = y;
+				r[0][10].angle = (int)angle;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				op.position11.x = x;
+				op.position11.y = y;
+			}
+			break;
+		// 下面的是从右向左进攻的队员的坐标处理
+		case 12:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position1.x = x;
+				op.position1.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) // 右方一号队员坐标
+			{
+				r[0][0].position.x = x;
+				r[0][0].position.y = y;
+				r[0][0].angle = (int)angle;
+			}
+			break;
+		case 13:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position2.x = x;
+				op.position2.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][1].position.x = x;
+				r[0][1].position.y = y;
+				r[0][1].angle = (int)angle;
+			}
+			break;
+		case 14:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position3.x = x;
+				op.position3.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][2].position.x = x;
+				r[0][2].position.y = y;
+				r[0][2].angle = (int)angle;
+			}
+			break;
+		case 15:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position4.x = x;
+				op.position4.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][3].position.x = x;
+				r[0][3].position.y = y;
+				r[0][3].angle = (int)angle;
+			}
+			break;
+		case 16:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position5.x = x;
+				op.position5.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][4].position.x = x;
+				r[0][4].position.y = y;
+				r[0][4].angle = (int)angle;
+			}
+			break;
+		case 17:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position6.x = x;
+				op.position6.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][5].position.x = x;
+				r[0][5].position.y = y;
+				r[0][5].angle = (int)angle;
+			}
+			break;
+		case 18:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position7.x = x;
+				op.position7.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][6].position.x = x;
+				r[0][6].position.y = y;
+				r[0][6].angle = (int)angle;
+			}
+			break;
+		case 19:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position8.x = x;
+				op.position8.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][7].position.x = x;
+				r[0][7].position.y = y;
+				r[0][7].angle = (int)angle;
+			}
+			break;
+		case 20:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position9.x = x;
+				op.position9.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][8].position.x = x;
+				r[0][8].position.y = y;
+				r[0][8].angle = (int)angle;
+			}
+			break;
+		case 21:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position10.x = x;
+				op.position10.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][9].position.x = x;
+				r[0][9].position.y = y;
+				r[0][9].angle = (int)angle;
+			}
+			break;
+		case 22:
+			if (m_iSide == LEFT_TO_RIGHT) {
+				op.position11.x = x;
+				op.position11.y = y;
+			}
+			else if (m_iSide == RIGHT_TO_LEFT) {
+				r[0][10].position.x = x;
+				r[0][10].position.y = y;
+				r[0][10].angle = (int)angle;
+			}
+			break;
+		}
+		break;
+	case 'b':
+	case 'B':
+		theball.position.x = x;
+		theball.position.y = y;
+		break;
+	}
+	return TRUE;
+}
+
+void CBaseAgent::SendCommand() {
+	CString msg;
+	if (m_iSide == LEFT_TO_RIGHT) {
+		msg.Format("((player left 1) %d %d) ((player left 2) %d %d) ((player left 3) %d %d) ((player left 4) %d %d) ((player left 5) %d %d) ((player left 6) %d %d) ((player left 7) %d %d) ((player left 8) %d %d) ((player left 9) %d %d) ((player left 10) %d %d) ((player left 11) %d %d)",
+			thePlannerL->command[2], thePlannerL->command[3],
+			thePlannerL->command[5], thePlannerL->command[6],
+			thePlannerL->command[8], thePlannerL->command[9],
+			thePlannerL->command[11], thePlannerL->command[12],
+			thePlannerL->command[14], thePlannerL->command[15],
+			thePlannerL->command[17], thePlannerL->command[18],
+			thePlannerL->command[20], thePlannerL->command[21],
+			thePlannerL->command[23], thePlannerL->command[24],
+			thePlannerL->command[26], thePlannerL->command[27],
+			thePlannerL->command[29], thePlannerL->command[30],
+			thePlannerL->command[32], thePlannerL->command[33]);
+	}
+	else if (m_iSide == RIGHT_TO_LEFT) {
+		msg.Format("((player right 1) %d %d) ((player right 2) %d %d) ((player right 3) %d %d) ((player right 4) %d %d) ((player right 5) %d %d) ((player right 6) %d %d) ((player right 7) %d %d) ((player right 8) %d %d) ((player right 9) %d %d) ((player right 10) %d %d) ((player right 11) %d %d)",
+			thePlannerR->command[2], thePlannerR->command[3],
+			thePlannerR->command[5], thePlannerR->command[6],
+			thePlannerR->command[8], thePlannerR->command[9],
+			thePlannerR->command[11], thePlannerR->command[12],
+			thePlannerR->command[14], thePlannerR->command[15],
+			thePlannerR->command[17], thePlannerR->command[18],
+			thePlannerR->command[20], thePlannerR->command[21],
+			thePlannerR->command[23], thePlannerR->command[24],
+			thePlannerR->command[26], thePlannerR->command[27],
+			thePlannerR->command[29], thePlannerR->command[30],
+			thePlannerR->command[32], thePlannerR->command[33]);
+	}
+
+	SendMsg(msg);
+}