Merge d522c9e into 2f37ef5

.appveyor.yml

@@ -17,6 +17,8 @@ install:
 - cargo -vV
 build_script:
 - cargo build --verbose
+- cargo build --verbose --manifest-path cli/Cargo.toml
+- cargo build --verbose --manifest-path gui/Cargo.toml
 test_script:
 - cargo test --verbose
 - cargo bench --verbose

.travis.yml

@@ -15,6 +15,8 @@ before_script:
 - pip install 'travis-cargo<0.2' --user && export PATH=$HOME/.local/bin:$PATH
 script:
 - travis-cargo build
+- cargo build --verbose --manifest-path cli/Cargo.toml
+- cargo build --verbose --manifest-path gui/Cargo.toml
 - travis-cargo test
 - travis-cargo bench
 - travis-cargo --only stable doc

Cargo.toml

@@ -16,6 +16,6 @@ default = []
 unstable = []
 
 [dependencies]
-net2 = "0.2"
-time = "0.1"
 roboime-next-protocol = { path = "protocol" }
+net2 = "0.2"
+log = "0.3"

README.md

@@ -142,12 +142,15 @@ __Line 1__, command counter:
 
 __Next `ROBOT_COUNT_PLAYER` lines__, robots commands:
 
-- `V_TAN`: a float, robot tangencial velocity
-- `V_NORM`: a float, robot normal velocity
-- `V_ANG`: a float, robot angular velocity
-- `KICK_X`: a float, robot x kick velocity
-- `KICK_Z`: a float, robot z kick velocity
-- `SPIN`: a bool, true (`1`) if the spin is to be turned or false (`0`) else
+- `V_TANGENT`: a float, robot tangencial velocity
+- `V_NORMAL`: a float, robot normal velocity
+- `V_ANGULAR`: a float, robot angular velocity
+- `KICK_FORCE`: a float, robot kick force (currently this is the shooting velocity)
+- `CHIP_FORCE`: a float, robot chip kick force, similar to `KICK_FORCE` but is shot at a 45 degrees angle
+- `DRIBBLE`: a bool, true (`1`) if the dribbler will be turned on, else (`0`) it will be off
+
+> NOTE: only one of KICK_FORCE, CHIP_FORCE and DRIBBLE will be in effect at any given moment, in the future
+> the protocol may be amended to make this more explicit.
 
 These actions will be applied on the robots in the order they were given.
 

cli/Cargo.toml

@@ -12,3 +12,6 @@ doc = false
 [dependencies]
 roboime-next = { path = ".." }
 clap = "^2.4.0"
+clock_ticks = "~0.1.0"
+log = "0.3"
+env_logger = "0.3"

cli/demos/c/main.c

@@ -134,25 +134,26 @@ int main() {
         printf("%i\n", counter);
 
         for (int i = 0; i < ids_count; ++i) {
-            float v_tan = 0.0f;
-            float v_norm = 0.0f;
-            float v_ang = 0.0f;
-            float kick_x = 0.0f;
-            float kick_z = 0.0f;
-            int spin = 0;
+            float v_tangent = 0.0f;
+            float v_normal = 0.0f;
+            float v_angular = 0.0f;
+            float kick_force = 0.0f;
+            float chip_force = 0.0f;
+            int dribble = 0;
 
             if (ids[i] == 0) {
                 const float PL = 0.40f;
                 const float PW = 0.80f;
-                v_tan  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w));
-                v_norm = PL * ((ty - y) * cos(w) + (tx - x) * sin(w));
-                v_ang  = PW * (tw - w);
-                kick_x = 4.0f;
-                kick_z = 0.0f;
-                spin = 1;
+                v_tangent  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w));
+                v_normal   = PL * ((ty - y) * cos(w) + (tx - x) * sin(w));
+                v_angular  = PW * (tw - w);
+                kick_force = 4.0f;
+                chip_force = 0.0f;
+                dribble = 1;
             }
 
-            printf("%f %f %f %f %f %i\n", v_tan, v_norm, v_ang, kick_x, kick_z, spin);
+            //fprintf(stderr, "%f %f %f %f %f %i\n", v_tangent, v_normal, v_angular, kick_force, chip_force, dribble);
+            printf("%f %f %f %f %f %i\n", v_tangent, v_normal, v_angular, kick_force, chip_force, dribble);
         }
 
         fflush(stdout);

cli/demos/cpp/main.cpp

@@ -104,25 +104,25 @@ int main() {
 
         for (int i = 0; i < ids.size() ; ++i) {
             const int robot_id = ids[i];
-            float v_tan = 0.0f;
-            float v_norm = 0.0f;
-            float v_ang = 0.0f;
-            float kick_x = 0.0f;
-            float kick_z = 0.0f;
-            bool spin = false;
+            float v_tangent = 0.0f;
+            float v_normal = 0.0f;
+            float v_angular = 0.0f;
+            float kick_force = 0.0f;
+            float chip_force = 0.0f;
+            bool dribble = false;
 
             if (robot_id == 0) {
                 const float PL = 0.40f;
                 const float PW = 0.80f;
-                v_tan  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w));
-                v_norm = PL * ((ty - y) * cos(w) + (tx - x) * sin(w));
-                v_ang  = PW * (tw - w);
-                kick_x = 4.0f;
-                kick_z = 0.0f;
-                spin = true;
+                v_tangent  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w));
+                v_normal = PL * ((ty - y) * cos(w) + (tx - x) * sin(w));
+                v_angular  = PW * (tw - w);
+                kick_force = 4.0f;
+                chip_force = 0.0f;
+                dribble = true;
             }
 
-            cout << v_tan << " " << v_norm << " " << v_ang << " " << kick_x << " " << kick_z << " " << spin << endl;
+            cout << v_tangent << " " << v_normal << " " << v_angular << " " << kick_force << " " << chip_force << " " << dribble << endl;
         }
     }
 }

cli/demos/lua/demo.lua

@@ -67,25 +67,25 @@ while true do
     print(counter)
 
     for _, robot_id in ipairs(ids) do
-        local v_tan = 0
-        local v_norm = 0
-        local v_ang = 0
-        local kick_x = 0
-        local kick_z = 0
-        local spin = 0
+        local v_tangent = 0
+        local v_normal = 0
+        local v_angular = 0
+        local kick_force = 0
+        local chip_force = 0
+        local dribble = 0
 
         if robot_id == 0 then
             PL = 0.40
             PW = 0.80
-            v_tan  = PL * ((tx - x) * math.cos(w) + (ty - y) * math.sin(w))
-            v_norm = PL * ((ty - y) * math.cos(w) + (tx - x) * math.sin(w))
-            v_ang  = PW * (tw - w)
-            kick_x = 4.0
-            kick_z = 0.0
-            spin = 1
+            v_tangent  = PL * ((tx - x) * math.cos(w) + (ty - y) * math.sin(w))
+            v_normal = PL * ((ty - y) * math.cos(w) + (tx - x) * math.sin(w))
+            v_angular  = PW * (tw - w)
+            kick_force = 4.0
+            chip_force = 0.0
+            dribble = 1
         end
 
-        print(table.concat({v_tan, v_norm, v_ang, kick_x, kick_z, spin}), " ")
+        print(table.concat({v_tangent, v_normal, v_angular, kick_force, chip_force, dribble}), " ")
     end
 
     io.stdout:flush()

cli/demos/python2/demo.py

@@ -72,23 +72,23 @@
     print counter
 
     for robot_id in ids:
-        v_tan = 0.0
-        v_norm = 0.0
-        v_ang = 0.0
-        kick_x = 0.0
-        kick_z = 0.0
-        spin = 0
+        v_tangent = 0.0
+        v_normal = 0.0
+        v_angular = 0.0
+        kick_force = 0.0
+        chip_force = 0.0
+        dribble = 0
 
         if robot_id == 0:
             PL = 0.40
             PW = 0.80
-            v_tan  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w))
-            v_norm = PL * ((ty - y) * cos(w) - (tx - x) * sin(w))
-            v_ang  = PW * (tw - w)
-            kick_x = 4.0
-            kick_z = 0.0
-            spin = 1
-
-        print v_tan, v_norm, v_ang, kick_x, kick_z, spin
+            v_tangent  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w))
+            v_normal   = PL * ((ty - y) * cos(w) - (tx - x) * sin(w))
+            v_angular  = PW * (tw - w)
+            kick_force = 4.0
+            chip_force = 0.0
+            dribble = 1
+
+        print v_tangent, v_normal, v_angular, kick_force, chip_force, dribble
 
     sys.stdout.flush()

cli/demos/python3/demo.py

@@ -71,21 +71,21 @@
     print(counter)
 
     for robot_id in ids:
-        v_tan = 0.0
-        v_norm = 0.0
-        v_ang = 0.0
-        kick_x = 0.0
-        kick_z = 0.0
-        spin = 0
+        v_tangent = 0.0
+        v_normal = 0.0
+        v_angular = 0.0
+        kick_force = 0.0
+        chip_force = 0.0
+        dribble = 0
 
         if robot_id == 0:
             PL = 0.40
             PW = 0.80
-            v_tan  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w))
-            v_norm = PL * ((ty - y) * cos(w) - (tx - x) * sin(w))
-            v_ang  = PW * (tw - w)
-            kick_x = 4.0
-            kick_z = 0.0
-            spin = 1
-
-        print(v_tan, v_norm, v_ang, kick_x, kick_z, spin)
+            v_tangent  = PL * ((tx - x) * cos(w) + (ty - y) * sin(w))
+            v_normal   = PL * ((ty - y) * cos(w) - (tx - x) * sin(w))
+            v_angular  = PW * (tw - w)
+            kick_force = 4.0
+            chip_force = 0.0
+            dribble = 1
+
+        print(v_tangent, v_normal, v_angular, kick_force, chip_force, dribble)