RoboCupGameControlData.java

package jp.ac.fit.asura.nao.communication;

//---------------------------------------------------------------------------------------
//  File:         RoboCupGameControlData.java (to be used in a Webots java controllers)
//  Date:         May 20, 2008
//  Description:  For decoding the bytes of a RoboCupGameControlData struct sent by nao_soccer_supervisor.c
//  Project:      Robotstadium, the online robot soccer competition
//  Author:       Yvan Bourquin - www.cyberbotics.com
//---------------------------------------------------------------------------------------

import java.nio.ByteBuffer;
import java.nio.ByteOrder;

public class RoboCupGameControlData {

	// team colours
	public static final byte TEAM_BLUE = 0;
	public static final byte TEAM_RED = 1;

	// game states
	public static final byte STATE_INITIAL = 0;
	public static final byte STATE_READY = 1;
	public static final byte STATE_SET = 2;
	public static final byte STATE_PLAYING = 3;
	public static final byte STATE_FINISHED = 4;

	// secondary game states
	public static final byte STATE2_NORMAL = 0;
	public static final byte STATE2_PENALTYSHOOT = 1;

	private byte playersPerTeam;
	//private byte state = STATE_PLAYING;
	private byte state = STATE_INITIAL;
	private byte firstHalf;
	private byte kickOffTeam;
	private byte secondaryState;
	private int secsRemaining;
	private TeamInfo[] teams = new TeamInfo[2]; // two Teams: red and a blue
	private float ballPosX;
	private float ballPosZ;

	public RoboCupGameControlData() {
		teams[0] = new TeamInfo(TEAM_BLUE);
		teams[1] = new TeamInfo(TEAM_RED);
	}

	static boolean hasValidHeader(byte[] bytes) {
		return bytes[0] == 82 && bytes[1] == 71 && bytes[2] == 109
				&& bytes[3] == 101;
	}

	public void update(byte[] bytes) {
		ByteBuffer buffer = ByteBuffer.allocate(bytes.length);
		buffer.order(ByteOrder.LITTLE_ENDIAN);
		buffer.put(bytes);
		buffer.rewind(); // start from the beginning
		buffer.getInt(); // skip header (4 bytes)
		buffer.getInt(); // skip unused struct version number
		playersPerTeam = buffer.get();
		state = buffer.get();
		firstHalf = buffer.get();
		kickOffTeam = buffer.get();
		secondaryState = buffer.get();
		buffer.get(); // skip unsupported dropInTeam
		buffer.getShort(); // skip unsupported dropInTime
		secsRemaining = buffer.getInt();
		teams[0].readBytes(buffer);
		teams[1].readBytes(buffer);
		ballPosX = buffer.getFloat();
		ballPosZ = buffer.getFloat();
	}

	public byte getPlayersPerTeam() {
		return playersPerTeam;
	}

	public byte getState() {
		return state;
	}

	public byte getFirstHalf() {
		return firstHalf;
	}

	public byte getKickOffTeam() {
		return kickOffTeam;
	}

	public byte getSecondaryState() {
		return secondaryState;
	}

	public int getSecsRemaining() {
		return secsRemaining;
	}

	// return the specified team (0 = blue, 1 = red)
	public TeamInfo getTeam(byte team) {
		return teams[team];
	}

	// getBallPosX() and getBallPosZ() will be disabled during contest matches
	// they should be used for training purposes only
	public float getBallPosX() {
		return ballPosX;
	}

	public float getBallPosZ() {
		return ballPosZ;
	}

	public void debug() {
		System.out.println("playersPerTeam: " + playersPerTeam);
		System.out.println("state: " + state);
		System.out.println("firstHalf: " + firstHalf);
		System.out.println("kickOffTeam: " + kickOffTeam);
		System.out.println("secondaryState: " + secondaryState);
		System.out.println("secsRemaining: " + secsRemaining);
		teams[0].debug();
		teams[1].debug();
		System.out.println("ballPosX: " + ballPosX);
		System.out.println("ballPosZ: " + ballPosZ);
	}
}