Merge pull request #147 from rcsoccersim/develop

Official Release 19.0.0

Author: hidehisaakiyama

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-project(RCSSServer VERSION 18.1.3)
+project(RCSSServer VERSION 19.0.0)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -19,7 +19,7 @@ endif()
 find_package(BISON REQUIRED)
 find_package(FLEX REQUIRED)
 #find_package(Boost COMPONENTS system filesystem REQUIRED)
-find_package(Boost COMPONENTS system REQUIRED)
+find_package(Boost 1.44.0 COMPONENTS system REQUIRED)
 
 include(GNUInstallDirs)
 include(CheckIncludeFileCXX)

ChangeLog

@@ -1,3 +1,13 @@
+2024-03-25  Hidehisa Akiyama  <hidehisaakiyama@users.noreply.github.com>
+
+        * CMakeLists.txt:
+        * NEWS:
+        * configure.ac:
+        - update a major version number. Official release 19.0.0
+        - introduce a bipedal dash model.
+        - introduce a new gaussian observation noise model.
+        - reformat JSON monitor protocol and game log.
+
 2023-04-29  Hidehisa Akiyama  <hidehisaakiyama@users.noreply.github.com>
 
 	* CMakeLists.txt:

NEWS

@@ -1,13 +1,93 @@
+[19.0.0]
+  * New prameters:
+    - server::dist_noise_rate (default value: 0.0125)
+    - server::focus_dist_noise_rate (default value: 0.0125)
+    - server::land_dist_noise_rate (default value: 0.00125)
+    - server::land_focus_dist_noise_rate (default value: 0.00125)
+
+  * New command:
+    - "(dash (l POWER DIR) (r POWER DIR))"
+     This is an extension of the dash command. All version players
+     can use this format. If the command is accepted, players can
+     perform acceleration and direction change simultaneously based
+     on the bipedal dash model.
+
+    - "(gaussian_see)"
+     All version players can use this command. If the command is
+     accepted, rcssserver sent a reply message, "(ok gaussian_see)".
+     This command is used for a gaussian noise mode describing below.
+
+  * Introduce a bipedal dash model. Players can now independently
+    issue dash commands to the left and right legs. This means that
+    players can now apply different accelerations to each leg. With
+    the bipedal dash model, players can perform acceleration and
+    direction changes simultaneously, governed by differential drive
+    kinematics.
+
+    The rotation is calculated as:
+
+    rotation = (left_leg_vel.bx - right_leg_vel.bx)/(player_size*2)
+
+    where bx is the x-component of the vector with the player's
+    body direction as the x-axis.
+
+    The player's result velocity is calculated as:
+
+    vel = (left_leg_vel + right_leg_vel)/2
+
+    Stamina is consumed independently on the left and right legs,
+    and the total consumption is the sum of half of each leg:
+
+    stamina = stamina - (left_consumed/2 + right_consumed/2)
+
+  * Introduce a new gaussian observation noise model. This model is
+    activated by "(gaussian_see)" command and replaces the previous
+    quantization model. In this model, In this model, the noised
+    distance in the player's observation is determined by a
+    Gaussian distribution:
+
+      stddev = actual_dist * noise_rate + focus_dist * focus_noise_rate
+      noised_dist = max(0.0, normal_distribution(actual_dist, stddev))
+
+    where normal_distribution(mean, stddev) is a random number
+    generator based on a Gaussian distribution with given mean and
+    standard deviation. actual_dist represents the actual distance
+    between the observed object and the player, while focus_dist is
+    the distance between the observed object and the player's focus
+    point. noise_rate and focus_noise_rate are determined by
+    heterogeneous parameters, with default values defined as new
+    server parameters, uniformly set for all player types in the
+    current version. For ball and player observation,
+    server::dist_noise_rate and server::focus_dist_noise_rate are
+    applied, while for flags (landmark objects), server::land_dist_noise_rate
+    and server::focus_dist_noise_rate are applied.
+
+    The velocity noise formula is similar to the previous one.
+    The formula of dir_chg remains unchanged, while dist_chg is
+    calculated as:
+
+      dist_chg = actual_dist_chg * noised_dist / actual_dist
+
+    where actual_dist_chg represents the x-component of the velocity
+    vector with the direction from the player to the observed object
+    as the x-axis. The resulting dist_chg value is rounded to two
+    decimal places before being sent.
+    
+  * Improve the JSON game log format. The format of each data has
+    been reviewed to make it easier to parse and the JSON rcg is
+    now recorded as a pure JSON file. The parser library is bundled
+    in rcssmonitor.
+
 [18.1.3]
   * Fix an issue in the penalty shootouts referee. If both teams
-  	score the same when finishing all extended trials, the penalty
-	shootouts referee will not end the game and the simulator will
-	get stuck. Thanks go to Omid Amini for providing the patch.
+    score the same when finishing all extended trials, the penalty
+    shootouts referee will not end the game and the simulator will
+    get stuck. Thanks go to Omid Amini for providing the patch.
 
 [18.1.2]
   * Fix a problem of v18 observation noise model. Quantized distance
     values affected by the focus point are now rounded to one decimal
-	place.
+    place.
 
 [18.1.1]
   * Fix a problem in which the focus point is sometimes not updated.

README.md

@@ -14,15 +14,15 @@ For further reading, please check [the user's manual](https://rcsoccersim.readth
 rcssserver is implemented by C++14 and depends some libraries.
 Make sure you have the required dependencies installed on your system:
 
-- g++ (which supports C++14)
+- g++ (which supports C++17)
 - autoconf
 - automake
 - libtool
 - flex
 - bison
 - boost >= 1.44
 
-In the case of Ubuntu 18.04 or 20.04, the following commands will resolve all dependencies:
+In the case of Ubuntu 20.04 or 22.04, the following commands will resolve all dependencies:
 
 ```
 sudo apt update

configure.ac

@@ -3,7 +3,7 @@
 
 AC_PREREQ([2.69])
 LT_PREREQ([2.2])
-AC_INIT([RCSSServer],[18.1.3],[https://github.com/rcsoccersim/],[rcssserver])
+AC_INIT([RCSSServer],[19.0.0],[https://github.com/rcsoccersim/],[rcssserver])
 
 #AM_INIT_AUTOMAKE([gnu 1.7.2 check-news dist-bzip2 dist-zip])
 AM_INIT_AUTOMAKE([gnu 1.7.2 check-news foreign])
@@ -47,7 +47,7 @@ AX_CHECK_ZLIB([],
 ##################################################
 
 AC_FUNC_ALLOCA
-AC_HEADER_STDC
+#AC_HEADER_STDC
 AC_CHECK_HEADERS([arpa/inet.h fcntl.h])
 AC_CHECK_HEADERS([inttypes.h libintl.h libintl.h malloc.h netdb.h])
 AC_CHECK_HEADERS([netinet/in.h poll.h pwd.h stddef.h stdlib.h sys/param.h])
@@ -65,7 +65,7 @@ AC_TYPE_INT16_T
 AC_TYPE_INT32_T
 AC_TYPE_INT8_T
 AC_TYPE_SIZE_T
-AC_HEADER_TIME
+#AC_HEADER_TIME
 AC_STRUCT_TM
 AC_TYPE_UINT16_T
 AC_TYPE_UINT32_T
@@ -98,12 +98,6 @@ AC_DEFINE_UNQUOTED([RETSIGTYPE],[$ac_cv_type_signal],[Define as the return type
 		    (`int' or `void').])
 
 AC_FUNC_STRFTIME
-AC_CHECK_FUNCS([memset], [], [
-  echo "************** ERROR ****************"
-  echo "Could not find memset function."
-  echo "Please upgrade you system"
-  exit 1
-])
 AC_CHECK_FUNCS([floor gethostbyname gettimeofday inet_ntoa memset mkdir pow rint])
 AC_CHECK_FUNCS([select socket sqrt strdup strerror])
 
@@ -194,7 +188,7 @@ AX_CXX_COMPILE_STDCXX_17(noext)
 # check boost
 ##################################################
 
-AX_BOOST_BASE([1.32.0])
+AX_BOOST_BASE([1.44.0])
 AX_BOOST_SYSTEM
 CPPFLAGS="$CPPFLAGS $BOOST_CPPFLAGS"
 LDFLAGS="$LDFLAGS $BOOST_LDFLAGS"

m4/ax_boost_base.m4

@@ -10,7 +10,7 @@
 #
 #   Test for the Boost C++ libraries of a particular version (or newer)
 #
-#   If no path to the installed boost library is given the macro searchs
+#   If no path to the installed boost library is given the macro searches
 #   under /usr, /usr/local, /opt, /opt/local and /opt/homebrew and evaluates
 #   the $BOOST_ROOT environment variable. Further documentation is available
 #   at <http://randspringer.de/boost/index.html>.
@@ -33,7 +33,7 @@
 #   and this notice are preserved. This file is offered as-is, without any
 #   warranty.
 
-#serial 52
+#serial 54
 
 # example boost program (need to pass version)
 m4_define([_AX_BOOST_BASE_PROGRAM],

src/CMakeLists.txt

@@ -37,6 +37,7 @@ add_executable(RCSSServer
     initsenderonlinecoach.cpp
     initsenderplayer.cpp
     landmarkreader.cpp
+	leg.cpp
     logger.cpp
     main.cpp
     monitor.cpp
@@ -94,7 +95,6 @@ target_link_libraries(RCSSServer
     RCSS::ConfParser
     RCSS::Net
     RCSS::GZ
-#    Boost::filesystem
     ZLIB::ZLIB
 	)
 

src/Makefile.am

@@ -20,6 +20,7 @@ rcssserver_SOURCES = \
 	initsenderonlinecoach.cpp \
 	initsenderplayer.cpp \
 	landmarkreader.cpp \
+	leg.cpp \
 	logger.cpp \
 	main.cpp \
 	monitor.cpp \
@@ -90,6 +91,7 @@ noinst_HEADERS = \
 	initsenderonlinecoach.h \
 	initsenderplayer.h \
 	landmarkreader.h \
+	leg.h \
 	logger.h \
 	monitor.h \
 	observer.h \

src/audio.cpp

@@ -985,6 +985,7 @@ RegHolder vp15 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlaye
 RegHolder vp16 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlayerv8 >, 16 );
 RegHolder vp17 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlayerv8 >, 17 );
 RegHolder vp18 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlayerv8 >, 18 );
+RegHolder vp19 = AudioSenderPlayer::factory().autoReg( &create< AudioSenderPlayerv8 >, 19 );
 
 template< typename Sender >
 AudioSender::Ptr
@@ -1011,6 +1012,7 @@ RegHolder vc15 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv
 RegHolder vc16 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv7 >, 16 );
 RegHolder vc17 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv7 >, 17 );
 RegHolder vc18 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv7 >, 18 );
+RegHolder vc19 = AudioSenderCoach::factory().autoReg( &create< AudioSenderCoachv7 >, 19 );
 
 template< typename Sender >
 AudioSender::Ptr
@@ -1037,5 +1039,6 @@ RegHolder voc15 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSende
 RegHolder voc16 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSenderOnlineCoachv7 >, 16 );
 RegHolder voc17 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSenderOnlineCoachv7 >, 17 );
 RegHolder voc18 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSenderOnlineCoachv7 >, 18 );
+RegHolder voc19 = AudioSenderOnlineCoach::factory().autoReg( &create< AudioSenderOnlineCoachv7 >, 19 );
 }
 }

src/bodysender.cpp

@@ -438,6 +438,7 @@ RegHolder vp15 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV
 RegHolder vp16 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV14 >, 16 );
 RegHolder vp17 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV14 >, 17 );
 RegHolder vp18 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV18 >, 18 );
+RegHolder vp19 = BodySenderPlayer::factory().autoReg( &create< BodySenderPlayerV18 >, 19 );
 }
 
 }

src/fullstatesender.cpp

@@ -541,6 +541,7 @@ RegHolder vp15 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSen
 RegHolder vp16 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV13 >, 16 );
 RegHolder vp17 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV13 >, 17 );
 RegHolder vp18 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV18 >, 18 );
+RegHolder vp19 = FullStateSenderPlayer::factory().autoReg( &create< FullStateSenderPlayerV18 >, 19 );
 }
 
 }