Merge pull request #19 from hbritto/master

Fixes compilation errors caused by VarTypes 0.8 and changes some constants according to new RoboCup SSL rules (2015)

src/configwidget.cpp

@@ -19,15 +19,15 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
 #include "configwidget.h"
 
 #define ADD_ENUM(type,name,Defaultvalue,namestring) \
-    v_##name = shared_ptr<Var##type>(new Var##type(namestring,Defaultvalue));
+    v_##name = std::tr1::shared_ptr<Var##type>(new Var##type(namestring,Defaultvalue));
 #define END_ENUM(parents, name) \
 parents->addChild(v_##name);
 #define ADD_TO_ENUM(name,str) \
 v_##name->addItem(str);
 
 
 #define ADD_VALUE(parent,type,name,defaultvalue,namestring) \
-    v_##name = shared_ptr<Var##type>(new Var##type(namestring,defaultvalue)); \
+    v_##name = std::tr1::shared_ptr<Var##type>(new Var##type(namestring,defaultvalue)); \
     parent->addChild(v_##name);
 
 #include<QDir>
@@ -44,21 +44,21 @@ ConfigWidget::ConfigWidget()
 
     geo_vars->addChild(field_vars);
         ADD_VALUE(field_vars,Double,Field_Line_Width,0.010,"Line Thickness")
-        ADD_VALUE(field_vars,Double,Field_Length,6.000,"Length")
-        ADD_VALUE(field_vars,Double,Field_Width,4.000,"Width")
+        ADD_VALUE(field_vars,Double,Field_Length,9.000,"Length")
+        ADD_VALUE(field_vars,Double,Field_Width,6.000,"Width")
         ADD_VALUE(field_vars,Double,Field_Rad,0.500,"Radius")
-        ADD_VALUE(field_vars,Double,Field_Defense_Rad,0.500,"Defense Radius")
-        ADD_VALUE(field_vars,Double,Field_Defense_Stretch,0.350,"Defense Stretch")
+        ADD_VALUE(field_vars,Double,Field_Defense_Rad,1.000,"Defense Radius")
+        ADD_VALUE(field_vars,Double,Field_Defense_Stretch,0.500,"Defense Stretch")
         ADD_VALUE(field_vars,Double,Field_Free_Kick,0.700,"Free Kick Distanse From Defense Area")
         ADD_VALUE(field_vars,Double,Field_Penalty_Rad,0.50,"Penalty radius")
         ADD_VALUE(field_vars,Double,Field_Penalty_Line,0.350,"Penalty line length")
-        ADD_VALUE(field_vars,Double,Field_Penalty_Point,0.450,"Penalty point")
+        ADD_VALUE(field_vars,Double,Field_Penalty_Point,0.950,"Penalty point")
         ADD_VALUE(field_vars,Double,Field_Margin,0.250,"Margin")
-        ADD_VALUE(field_vars,Double,Field_Referee_Margin,0.425,"Referee margin")
+        ADD_VALUE(field_vars,Double,Field_Referee_Margin,0.455,"Referee margin")
         ADD_VALUE(field_vars,Double,Wall_Thickness,0.050,"Wall thickness")
         ADD_VALUE(field_vars,Double,Goal_Thickness,0.020,"Goal thickness")
-        ADD_VALUE(field_vars,Double,Goal_Depth,0.180,"Goal depth")
-        ADD_VALUE(field_vars,Double,Goal_Width,0.700,"Goal width")
+        ADD_VALUE(field_vars,Double,Goal_Depth,0.200,"Goal depth")
+        ADD_VALUE(field_vars,Double,Goal_Width,1.000,"Goal width")
         ADD_VALUE(field_vars,Double,Goal_Height,0.160,"Goal height")
     ADD_ENUM(StringEnum,YellowTeam,"Parsian","Yellow Team");
     END_ENUM(geo_vars,YellowTeam)
@@ -74,7 +74,7 @@ ConfigWidget::ConfigWidget()
     phys_vars->addChild(worldp_vars);  
         ADD_VALUE(worldp_vars,Double,DesiredFPS,65,"Desired FPS")
         ADD_VALUE(worldp_vars,Bool,SyncWithGL,false,"Synchronize ODE with OpenGL")
-        ADD_VALUE(worldp_vars,Double,DeltaTime,0.015,"ODE time step")
+        ADD_VALUE(worldp_vars,Double,DeltaTime,0.016,"ODE time step")
         ADD_VALUE(worldp_vars,Double,Gravity,9.8,"Gravity")
   VarListPtr ballp_vars(new VarList("Ball"));
     phys_vars->addChild(ballp_vars);

src/configwidget.h

@@ -45,17 +45,17 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
 using namespace VarTypes;
 
 #define DEF_VALUE(type,Type,name)  \
-            shared_ptr<VarTypes::Var##Type> v_##name; \
+            std::tr1::shared_ptr<VarTypes::Var##Type> v_##name; \
             inline type name() {return v_##name->get##Type();}
 
 #define DEF_ENUM(type,name)  \
-            shared_ptr<VarTypes::VarStringEnum> v_##name; \
+            std::tr1::shared_ptr<VarTypes::VarStringEnum> v_##name; \
             type name() {if(v_##name!=NULL) return v_##name->getString();return * (new type);}
 
 #define DEF_TREE(name)  \
-            shared_ptr<VarTypes::VarList> name;
+            std::tr1::shared_ptr<VarTypes::VarList> name;
 #define DEF_PTREE(parents, name)  \
-            shared_ptr<VarTypes::VarList> parents##_##name;
+            std::tr1::shared_ptr<VarTypes::VarList> parents##_##name;
 
 
 

src/glwidget.cpp

@@ -25,6 +25,8 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
 #include "logger.h"
 #include <QLabel>
 
+#include <iostream>
+
 GLWidget::GLWidget(QWidget *parent,ConfigWidget* _cfg)
     : QGLWidget(parent)
 {
@@ -50,10 +52,14 @@ GLWidget::GLWidget(QWidget *parent,ConfigWidget* _cfg)
     blueRobotsMenu->addAction(tr("Put all inside with formation 2"));
     blueRobotsMenu->addAction(tr("Put all outside"));
     blueRobotsMenu->addAction(tr("Put all out of field"));
+    blueRobotsMenu->addAction(tr("Turn all off"));
+    blueRobotsMenu->addAction(tr("Turn all on"));
     yellowRobotsMenu->addAction(tr("Put all inside with formation 1"));
     yellowRobotsMenu->addAction(tr("Put all inside with formation 2"));
     yellowRobotsMenu->addAction(tr("Put all outside"));
     yellowRobotsMenu->addAction(tr("Put all out of field"));
+    yellowRobotsMenu->addAction(tr("Turn all off"));
+    yellowRobotsMenu->addAction(tr("Turn all on"));
     robpopup = new QMenu(this);
     moveRobotAct = new QAction(tr("&Locate robot"),this);
     selectRobotAct = new QAction(tr("&Select robot"),this);
@@ -426,8 +432,8 @@ void GLWidget::keyPressEvent(QKeyEvent *event)
     if (fullScreen) {
         if (event->key()==Qt::Key_F2) emit toggleFullScreen(false);
     }
-    const dReal S = 0.30;
-    const dReal BallForce = 0.2;
+    const dReal S = 1.00;
+    const dReal BallForce = 2.0;
     int R = robotIndex(Current_robot,Current_team);
     switch (cmd) {
     case 't': case 'T': ssl->robots[R]->incSpeed(0,-S);ssl->robots[R]->incSpeed(1,S);ssl->robots[R]->incSpeed(2,-S);ssl->robots[R]->incSpeed(3,S);break;
@@ -438,8 +444,8 @@ void GLWidget::keyPressEvent(QKeyEvent *event)
     case 's': case 'S':dBodyAddForce(ssl->ball->body,0,-BallForce,0);break;
     case 'd': case 'D':dBodyAddForce(ssl->ball->body, BallForce,0,0);break;
     case 'a': case 'A':dBodyAddForce(ssl->ball->body,-BallForce,0,0);break;
-    case 'k':case 'K': ssl->robots[R]->kicker->kick(4,0);break;
-    case 'l':case 'L': ssl->robots[R]->kicker->kick(2,2);break;
+    case 'k':case 'K': ssl->robots[R]->kicker->kick(8,0);break;
+    case 'l':case 'L': ssl->robots[R]->kicker->kick(3,3);break;
     case 'j':case 'J': ssl->robots[R]->kicker->toggleRoller();break;
     case 'i':case 'I': dBodySetLinearVel(ssl->ball->body,2.0,0,0);dBodySetAngularVel(ssl->ball->body,0,2.0/cfg->BallRadius(),0);break;
     case ';':
@@ -485,7 +491,30 @@ void GLWidget::reform(int team,const QString& act)
     if (act==tr("Put all inside with formation 2")) forms[3]->resetRobots(ssl->robots,team);
     if (act==tr("Put all outside") && team==0) forms[0]->resetRobots(ssl->robots,team);
     if (act==tr("Put all outside") && team==1) forms[1]->resetRobots(ssl->robots,team);
-    if (act==tr("Put all out of field")) forms[4]->resetRobots(ssl->robots,team);    
+    if (act==tr("Put all out of field")) forms[4]->resetRobots(ssl->robots,team);
+
+    if(act==tr("Turn all off")) {
+        for(int i=0; i<ROBOT_COUNT; i++) {
+            int k = robotIndex(i, team);
+            if(ssl->robots[k]->on==true) {
+                ssl->robots[k]->on = false;
+                onOffRobotAct->setText("Turn &on");
+                emit robotTurnedOnOff(k, false);
+            }
+        }
+    }
+
+    if(act==tr("Turn all on")) {
+        for(int i=0; i<ROBOT_COUNT; i++) {
+            int k = robotIndex(i, team);
+            if(ssl->robots[k]->on==false) {
+                ssl->robots[k]->on = true;
+                onOffRobotAct->setText("Turn &off");
+                emit robotTurnedOnOff(k, true);
+            }
+        }
+    }
+
 }
 
 void GLWidget::moveBallHere()

src/proto/messages_robocup_ssl_geometry.proto

@@ -1,18 +1,49 @@
+// A 2D float vector.
+message Vector2f {
+  required float x = 1;
+  required float y = 2;
+}
+
+// Represents a field marking as a line segment represented by a start point p1,
+// and end point p2, and a line thickness. The start and end points are along
+// the center of the line, so the thickness of the line extends by thickness / 2
+// on either side of the line.
+message SSL_FieldLineSegment {
+  // Name of this field marking.
+  required string name = 1;
+  // Start point of the line segment.
+  required Vector2f p1 = 2;
+  // End point of the line segment.
+  required Vector2f p2 = 3;
+  // Thickness of the line segment.
+  required float thickness = 4;
+}
+
+// Represents a field marking as a circular arc segment represented by center point, a
+// start angle, an end angle, and an arc thickness.
+message SSL_FieldCicularArc {
+  // Name of this field marking.
+  required string name = 1;
+  // Center point of the circular arc.
+  required Vector2f center = 2;
+  // Radius of the arc.
+  required float radius = 3;
+  // Start angle in counter-clockwise order.
+  required float a1 = 4;
+  // End angle in counter-clockwise order.
+  required float a2 = 5;
+  // Thickness of the arc.
+  required float thickness = 6;
+}
+
 message SSL_GeometryFieldSize {
-  required int32 line_width = 1;
-  required int32 field_length = 2;
-  required int32 field_width = 3;
-  required int32 boundary_width = 4;
-  required int32 referee_width = 5;
-  required int32 goal_width = 6;
-  required int32 goal_depth = 7;
-  required int32 goal_wall_width = 8;
-  required int32 center_circle_radius = 9;
-  required int32 defense_radius = 10;
-  required int32 defense_stretch = 11;
-  required int32 free_kick_from_defense_dist = 12;
-  required int32 penalty_spot_from_field_line_dist = 13;
-  required int32 penalty_line_from_spot_dist = 14;
+  required int32 field_length = 1;
+  required int32 field_width = 2;
+  required int32 goal_width = 3;
+  required int32 goal_depth = 4;
+  required int32 boundary_width = 5;
+  repeated SSL_FieldLineSegment field_lines = 6;
+  repeated SSL_FieldCicularArc field_arcs = 7;
 }
 
 message SSL_GeometryCameraCalibration {