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<h1>/Users/jason/Code/naowalkoptimiser/src/Network/RoboCupGameControlData.h</h1><a href="_robo_cup_game_control_data_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> Copyright (C) 2005 University Of New South Wales</span>
<a name="l00003"></a>00003 <span class="comment"> Copyright (C) 2006 National ICT Australia</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Permission is hereby granted, free of charge, to any person obtaining a copy</span>
<a name="l00006"></a>00006 <span class="comment"> of this software source code file, to deal in the file without restriction, </span>
<a name="l00007"></a>00007 <span class="comment"> including without limitation the rights to use, copy, modify, merge, </span>
<a name="l00008"></a>00008 <span class="comment"> publish, distribute, sublicense, and/or sell copies of the file, and to </span>
<a name="l00009"></a>00009 <span class="comment"> permit persons to whom the file is furnished to do so, subject to the </span>
<a name="l00010"></a>00010 <span class="comment"> following conditions:</span>
<a name="l00011"></a>00011 <span class="comment"></span>
<a name="l00012"></a>00012 <span class="comment"> The above copyright notice and this permission notice shall be included in </span>
<a name="l00013"></a>00013 <span class="comment"> all copies or substantial portions of the software source file.</span>
<a name="l00014"></a>00014 <span class="comment"></span>
<a name="l00015"></a>00015 <span class="comment"> THIS SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR </span>
<a name="l00016"></a>00016 <span class="comment"> IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, </span>
<a name="l00017"></a>00017 <span class="comment"> FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE </span>
<a name="l00018"></a>00018 <span class="comment"> AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER </span>
<a name="l00019"></a>00019 <span class="comment"> LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING </span>
<a name="l00020"></a>00020 <span class="comment"> FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS</span>
<a name="l00021"></a>00021 <span class="comment"> IN THE SOFTWARE.</span>
<a name="l00022"></a>00022 <span class="comment">*/</span>
<a name="l00023"></a>00023
<a name="l00024"></a>00024 <span class="comment">/*******************************************************************************</span>
<a name="l00025"></a>00025 <span class="comment">*</span>
<a name="l00026"></a>00026 <span class="comment">* RoboCupGameControlData.h</span>
<a name="l00027"></a>00027 <span class="comment">*</span>
<a name="l00028"></a>00028 <span class="comment">* Broadcasted data structure and constants</span>
<a name="l00029"></a>00029 <span class="comment">*</span>
<a name="l00030"></a>00030 <span class="comment">* willu@cse.unsw.edu.au</span>
<a name="l00031"></a>00031 <span class="comment">* shnl327@cse.unsw.edu.au</span>
<a name="l00032"></a>00032 <span class="comment">*</span>
<a name="l00033"></a>00033 <span class="comment">*******************************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#ifndef _RoboCupGameControlData_h_DEFINED</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define _RoboCupGameControlData_h_DEFINED</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="comment">//Defining int types:</span>
<a name="l00039"></a>00039 <span class="comment">//#define uint8 char </span>
<a name="l00040"></a><a class="code" href="_robo_cup_game_control_data_8h.html#afc4adc9111e54b3163b6126ce951ecc3">00040</a> <span class="preprocessor">#define uint16 unsigned short int</span>
<a name="l00041"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a9695cf1104606879c5d3f0221635a069">00041</a> <span class="preprocessor"></span><span class="preprocessor">#define uint32 unsigned long int </span>
<a name="l00042"></a>00042 <span class="preprocessor"></span>
<a name="l00043"></a>00043 <span class="comment">// port for GameController network traffic</span>
<a name="l00044"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a0644b9d3e36ef39e2963dd6dd0d0b954">00044</a> <span class="preprocessor">#define GAMECONTROLLER_PORT 3838</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span>
<a name="l00046"></a>00046 <span class="comment">// data structure version number</span>
<a name="l00047"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a9322b0a744941f5dfd7d7f189e3899b4">00047</a> <span class="preprocessor">#define GAMECONTROLLER_STRUCT_VERSION 6</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a>00049 <span class="comment">// data structure header</span>
<a name="l00050"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a02cb3fe1e4c52f4af0bc2f718d9e8090">00050</a> <span class="preprocessor">#define GAMECONTROLLER_STRUCT_HEADER "RGme"</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span>
<a name="l00052"></a>00052 <span class="comment">// the maximum number of players per team</span>
<a name="l00053"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a6ab3ca30a9773f03dce19a9057103c8e">00053</a> <span class="preprocessor">#define MAX_NUM_PLAYERS 11</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span>
<a name="l00055"></a>00055 <span class="comment">// team numbers</span>
<a name="l00056"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a800a654c67c2655c7451dbeff61036a9">00056</a> <span class="preprocessor">#define TEAM_BLUE 0</span>
<a name="l00057"></a><a class="code" href="_robo_cup_game_control_data_8h.html#af1c0ae6383b9f7e236574c0546b3c90f">00057</a> <span class="preprocessor"></span><span class="preprocessor">#define TEAM_RED 1</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span>
<a name="l00059"></a>00059 <span class="comment">// game states</span>
<a name="l00060"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a233f4f4664c8109e0ccfb6995d46f2dd">00060</a> <span class="preprocessor">#define STATE_INITIAL 0</span>
<a name="l00061"></a><a class="code" href="_robo_cup_game_control_data_8h.html#aa74af0876332d1a6258cff9745a1bd53">00061</a> <span class="preprocessor"></span><span class="preprocessor">#define STATE_READY 1</span>
<a name="l00062"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a8db7280abab559b64c9d326fc57d19a2">00062</a> <span class="preprocessor"></span><span class="preprocessor">#define STATE_SET 2</span>
<a name="l00063"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a419dde1f1ac1a18c1d724656fe327d99">00063</a> <span class="preprocessor"></span><span class="preprocessor">#define STATE_PLAYING 3</span>
<a name="l00064"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a6c67f1d584b1176e47ffd0671a59cafb">00064</a> <span class="preprocessor"></span><span class="preprocessor">#define STATE_FINISHED 4</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span>
<a name="l00066"></a>00066 <span class="comment">// secondary game states</span>
<a name="l00067"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a663935f4a0e34ee488a3c32b5bd86600">00067</a> <span class="preprocessor">#define STATE2_NORMAL 0</span>
<a name="l00068"></a><a class="code" href="_robo_cup_game_control_data_8h.html#ab229de95f021dbc155ca71e5f9967a5e">00068</a> <span class="preprocessor"></span><span class="preprocessor">#define STATE2_PENALTYSHOOT 1</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span>
<a name="l00070"></a>00070 <span class="comment">// penalties</span>
<a name="l00071"></a><a class="code" href="_robo_cup_game_control_data_8h.html#ad3bd258617fefb59d64ab2f273910ca8">00071</a> <span class="preprocessor">#define PENALTY_NONE 0</span>
<a name="l00072"></a><a class="code" href="_robo_cup_game_control_data_8h.html#acf4bb83c8b17e0c4c4990e200aadde18">00072</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_BALL_HOLDING 1</span>
<a name="l00073"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a5d95c3b0d01ddb345191d5cf1b09f04c">00073</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_GOALIE_PUSHING 2</span>
<a name="l00074"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a920a5dc189febefed7c8b235faff6967">00074</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_PLAYER_PUSHING 3</span>
<a name="l00075"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a8b5a6792922cd983adab1bdf3f899d2c">00075</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_ILLEGAL_DEFENDER 4</span>
<a name="l00076"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a87edfea6e970e40cd11265a6cac98c3a">00076</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_ILLEGAL_DEFENSE 5</span>
<a name="l00077"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a895399877b3e045f0297a4da63573be1">00077</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_OBSTRUCTION 6</span>
<a name="l00078"></a><a class="code" href="_robo_cup_game_control_data_8h.html#aafeb98cad0c744662793c4ecb68673d7">00078</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_REQ_FOR_PICKUP 7</span>
<a name="l00079"></a><a class="code" href="_robo_cup_game_control_data_8h.html#ab2082d34890bd9ed02e53a9748e67c27">00079</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_LEAVING 8</span>
<a name="l00080"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a18a7195ddb9917ef3ad6b64baade8e43">00080</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_DAMAGE 9</span>
<a name="l00081"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a8c09bfb32f022540e69afd5799066123">00081</a> <span class="preprocessor"></span><span class="preprocessor">#define PENALTY_MANUAL 10</span>
<a name="l00082"></a>00082 <span class="preprocessor"></span>
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="comment">// information that describes a player</span>
<a name="l00085"></a><a class="code" href="struct_robot_info.html">00085</a> <span class="keyword">struct </span><a class="code" href="struct_robot_info.html">RobotInfo</a> {
<a name="l00086"></a><a class="code" href="struct_robot_info.html#a5b1df4bed126e6ad9a8d2240787cb522">00086</a> <a class="code" href="_robo_cup_game_control_data_8h.html#afc4adc9111e54b3163b6126ce951ecc3">uint16</a> <a class="code" href="struct_robot_info.html#a5b1df4bed126e6ad9a8d2240787cb522">penalty</a>; <span class="comment">// penalty state of the player</span>
<a name="l00087"></a><a class="code" href="struct_robot_info.html#a7077748b85b660e7085308e3442792c8">00087</a> <a class="code" href="_robo_cup_game_control_data_8h.html#afc4adc9111e54b3163b6126ce951ecc3">uint16</a> <a class="code" href="struct_robot_info.html#a7077748b85b660e7085308e3442792c8">secsTillUnpenalised</a>; <span class="comment">// estimate of time till unpenalised</span>
<a name="l00088"></a>00088 };
<a name="l00089"></a>00089
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="comment">// information that describes a team</span>
<a name="l00092"></a><a class="code" href="struct_team_info.html">00092</a> <span class="keyword">struct </span><a class="code" href="struct_team_info.html">TeamInfo</a> {
<a name="l00093"></a><a class="code" href="struct_team_info.html#a9c79c6c5a3559a8d4b058f8ae4b09765">00093</a> <a class="code" href="_game_packet_defs_8h.html#adde6aaee8457bee49c2a92621fe22b79">uint8</a> <a class="code" href="struct_team_info.html#a9c79c6c5a3559a8d4b058f8ae4b09765">teamNumber</a>; <span class="comment">// unique team number</span>
<a name="l00094"></a><a class="code" href="struct_team_info.html#a101430dde232645c1783f541aa847044">00094</a> <a class="code" href="_game_packet_defs_8h.html#adde6aaee8457bee49c2a92621fe22b79">uint8</a> <a class="code" href="struct_team_info.html#a101430dde232645c1783f541aa847044">teamColour</a>; <span class="comment">// colour of the team</span>
<a name="l00095"></a><a class="code" href="struct_team_info.html#a733eca2b96c218c3ed22f7a714e1b198">00095</a> <a class="code" href="_robo_cup_game_control_data_8h.html#afc4adc9111e54b3163b6126ce951ecc3">uint16</a> <a class="code" href="struct_team_info.html#a733eca2b96c218c3ed22f7a714e1b198">score</a>; <span class="comment">// team's score</span>
<a name="l00096"></a><a class="code" href="struct_team_info.html#a23ae32f3f40eb98e7b7428e031624db3">00096</a> <a class="code" href="struct_robot_info.html">RobotInfo</a> <a class="code" href="struct_team_info.html#a23ae32f3f40eb98e7b7428e031624db3">players</a>[<a class="code" href="_robo_cup_game_control_data_8h.html#a6ab3ca30a9773f03dce19a9057103c8e">MAX_NUM_PLAYERS</a>]; <span class="comment">// the team's players</span>
<a name="l00097"></a>00097 };
<a name="l00098"></a>00098
<a name="l00099"></a>00099
<a name="l00100"></a><a class="code" href="struct_robo_cup_game_control_data.html">00100</a> <span class="keyword">struct </span><a class="code" href="struct_robo_cup_game_control_data.html">RoboCupGameControlData</a> {
<a name="l00101"></a><a class="code" href="struct_robo_cup_game_control_data.html#aef4b5886a33b7faa2bbc183b90b09737">00101</a> <span class="keywordtype">char</span> <a class="code" href="struct_robo_cup_game_control_data.html#aef4b5886a33b7faa2bbc183b90b09737">header</a>[4]; <span class="comment">// header to identify the structure</span>
<a name="l00102"></a><a class="code" href="struct_robo_cup_game_control_data.html#a67e2fa7e10ac61bad53bfeec1440e9f7">00102</a> <a class="code" href="_robo_cup_game_control_data_8h.html#a9695cf1104606879c5d3f0221635a069">uint32</a> <a class="code" href="struct_robo_cup_game_control_data.html#a67e2fa7e10ac61bad53bfeec1440e9f7">version</a>; <span class="comment">// version of the data structure</span>
<a name="l00103"></a><a class="code" href="struct_robo_cup_game_control_data.html#aaaf38958ef5288d5b6e699b9a4130856">00103</a> <a class="code" href="_game_packet_defs_8h.html#adde6aaee8457bee49c2a92621fe22b79">uint8</a> <a class="code" href="struct_robo_cup_game_control_data.html#aaaf38958ef5288d5b6e699b9a4130856">playersPerTeam</a>; <span class="comment">// The number of players on a team</span>
<a name="l00104"></a><a class="code" href="struct_robo_cup_game_control_data.html#a0deb48e7303394812ac0dc33721aab9b">00104</a> <a class="code" href="_game_packet_defs_8h.html#adde6aaee8457bee49c2a92621fe22b79">uint8</a> <a class="code" href="struct_robo_cup_game_control_data.html#a0deb48e7303394812ac0dc33721aab9b">state</a>; <span class="comment">// state of the game (STATE_READY, STATE_PLAYING, etc)</span>
<a name="l00105"></a><a class="code" href="struct_robo_cup_game_control_data.html#aa234634e0023226ef905f089a6dc7cb3">00105</a> <a class="code" href="_game_packet_defs_8h.html#adde6aaee8457bee49c2a92621fe22b79">uint8</a> <a class="code" href="struct_robo_cup_game_control_data.html#aa234634e0023226ef905f089a6dc7cb3">firstHalf</a>; <span class="comment">// 1 = game in first half, 0 otherwise</span>
<a name="l00106"></a><a class="code" href="struct_robo_cup_game_control_data.html#a4c6c347722e96a76341239e8f99722f5">00106</a> <a class="code" href="_game_packet_defs_8h.html#adde6aaee8457bee49c2a92621fe22b79">uint8</a> <a class="code" href="struct_robo_cup_game_control_data.html#a4c6c347722e96a76341239e8f99722f5">kickOffTeam</a>; <span class="comment">// the next team to kick off</span>
<a name="l00107"></a><a class="code" href="struct_robo_cup_game_control_data.html#a1c5896e07af2834b426145bcabb4cbc5">00107</a> <a class="code" href="_game_packet_defs_8h.html#adde6aaee8457bee49c2a92621fe22b79">uint8</a> <a class="code" href="struct_robo_cup_game_control_data.html#a1c5896e07af2834b426145bcabb4cbc5">secondaryState</a>; <span class="comment">// Extra state information - (STATE2_NORMAL, STATE2_PENALTYSHOOT, etc)</span>
<a name="l00108"></a><a class="code" href="struct_robo_cup_game_control_data.html#ae2d2605da8d8ee08ff9e4272dfcb71bd">00108</a> <a class="code" href="_game_packet_defs_8h.html#adde6aaee8457bee49c2a92621fe22b79">uint8</a> <a class="code" href="struct_robo_cup_game_control_data.html#ae2d2605da8d8ee08ff9e4272dfcb71bd">dropInTeam</a>; <span class="comment">// team that caused last drop in</span>
<a name="l00109"></a><a class="code" href="struct_robo_cup_game_control_data.html#a38f1c1069be40cc99a55a6e14cbf9a38">00109</a> <a class="code" href="_robo_cup_game_control_data_8h.html#afc4adc9111e54b3163b6126ce951ecc3">uint16</a> <a class="code" href="struct_robo_cup_game_control_data.html#a38f1c1069be40cc99a55a6e14cbf9a38">dropInTime</a>; <span class="comment">// number of seconds passed since the last drop in. -1 before first dropin</span>
<a name="l00110"></a><a class="code" href="struct_robo_cup_game_control_data.html#a325836c5775c153710ddf426130938b4">00110</a> <a class="code" href="_robo_cup_game_control_data_8h.html#a9695cf1104606879c5d3f0221635a069">uint32</a> <a class="code" href="struct_robo_cup_game_control_data.html#a325836c5775c153710ddf426130938b4">secsRemaining</a>; <span class="comment">// estimate of number of seconds remaining in the half</span>
<a name="l00111"></a><a class="code" href="struct_robo_cup_game_control_data.html#aa85c3d80cc5e120b79d641409318bf79">00111</a> <a class="code" href="struct_team_info.html">TeamInfo</a> <a class="code" href="struct_robo_cup_game_control_data.html#aa85c3d80cc5e120b79d641409318bf79">teams</a>[2];
<a name="l00112"></a>00112 };
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="comment">// data structure header</span>
<a name="l00115"></a><a class="code" href="_robo_cup_game_control_data_8h.html#ae5727fb968c1178859046d3e5bd4e5ef">00115</a> <span class="preprocessor">#define GAMECONTROLLER_RETURN_STRUCT_HEADER "RGrt"</span>
<a name="l00116"></a>00116 <span class="preprocessor"></span>
<a name="l00117"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a2cb1f10046627e69cc4ffc631cabe8bb">00117</a> <span class="preprocessor">#define GAMECONTROLLER_RETURN_STRUCT_VERSION 1</span>
<a name="l00118"></a>00118 <span class="preprocessor"></span>
<a name="l00119"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a2b136278ce4f1b73b0f0c103492bd9c8">00119</a> <span class="preprocessor">#define GAMECONTROLLER_RETURN_MSG_MAN_PENALISE 0</span>
<a name="l00120"></a><a class="code" href="_robo_cup_game_control_data_8h.html#a60a9e3222a437d974a77ebf5e07ccd96">00120</a> <span class="preprocessor"></span><span class="preprocessor">#define GAMECONTROLLER_RETURN_MSG_MAN_UNPENALISE 1</span>
<a name="l00121"></a>00121 <span class="preprocessor"></span>
<a name="l00122"></a><a class="code" href="struct_robo_cup_game_control_return_data.html">00122</a> <span class="keyword">struct </span><a class="code" href="struct_robo_cup_game_control_return_data.html">RoboCupGameControlReturnData</a> {
<a name="l00123"></a><a class="code" href="struct_robo_cup_game_control_return_data.html#abbc3d8a3ac6f298388d2da7a424b2294">00123</a> <span class="keywordtype">char</span> <a class="code" href="struct_robo_cup_game_control_return_data.html#abbc3d8a3ac6f298388d2da7a424b2294">header</a>[4];
<a name="l00124"></a><a class="code" href="struct_robo_cup_game_control_return_data.html#a9fea1d16533fda4c951c94b71cf137c0">00124</a> <a class="code" href="_robo_cup_game_control_data_8h.html#a9695cf1104606879c5d3f0221635a069">uint32</a> <a class="code" href="struct_robo_cup_game_control_return_data.html#a9fea1d16533fda4c951c94b71cf137c0">version</a>;
<a name="l00125"></a><a class="code" href="struct_robo_cup_game_control_return_data.html#a499420da84edcc8b9f217cd97f312fe6">00125</a> <a class="code" href="_robo_cup_game_control_data_8h.html#afc4adc9111e54b3163b6126ce951ecc3">uint16</a> <a class="code" href="struct_robo_cup_game_control_return_data.html#a499420da84edcc8b9f217cd97f312fe6">team</a>;
<a name="l00126"></a><a class="code" href="struct_robo_cup_game_control_return_data.html#a60a79f1a5acdff572b5095004a1298fd">00126</a> <a class="code" href="_robo_cup_game_control_data_8h.html#afc4adc9111e54b3163b6126ce951ecc3">uint16</a> <a class="code" href="struct_robo_cup_game_control_return_data.html#a60a79f1a5acdff572b5095004a1298fd">player</a>; <span class="comment">// player number - 1 based</span>
<a name="l00127"></a><a class="code" href="struct_robo_cup_game_control_return_data.html#a32c53102c3e9d6f6d23821bd8ec9ce67">00127</a> <a class="code" href="_robo_cup_game_control_data_8h.html#a9695cf1104606879c5d3f0221635a069">uint32</a> <a class="code" href="struct_robo_cup_game_control_return_data.html#a32c53102c3e9d6f6d23821bd8ec9ce67">message</a>;
<a name="l00128"></a>00128 };
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="preprocessor">#endif</span>
<a name="l00131"></a>00131 <span class="preprocessor"></span>
</pre></div></div>
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