Merge branch 'release/v0.3'

aiwc · Nov 25, 2017 · 69373ba · 69373ba
2 parents 9d82f2f + 446e994
commit 69373ba
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Showing 15 changed files with 664 additions and 250 deletions.
diff --git a/controllers/soccer_robot/soccer_robot.exe b/controllers/soccer_robot/soccer_robot.exe
diff --git a/controllers/supervisor/constants.hpp b/controllers/supervisor/constants.hpp
@@ -81,14 +81,19 @@ namespace constants {
   constexpr std::size_t KEY_LENGTH = 10;
 
   // Game settings
-  constexpr std::size_t WAIT_READY = 30; // s
-  constexpr std::size_t WAIT_KILL  = 30; // s
-  constexpr std::size_t WAIT_STABLE = 1; // s
-  constexpr std::size_t WAIT_GOAL   = 3; // s
-  constexpr std::size_t GAME_TIME   = 300; // s
-  constexpr std::size_t PERIOD_MS   = 50; // ms
-  constexpr std::size_t FOUL_DURATION = 5; // s
+  constexpr std::size_t WAIT_READY_MS    = 30 * 1000; // ms
+  constexpr std::size_t WAIT_KILL_MS     = 30 * 1000; // ms
+  constexpr std::size_t WAIT_STABLE_MS   = 1  * 1000; // ms
+  constexpr std::size_t WAIT_GOAL_MS     = 3  * 1000; // ms
+  constexpr std::size_t WAIT_END_MS      = 3  * 1000; // ms
+  constexpr std::size_t DEFAULT_GAME_TIME_MS     = 300 * 1000; // ms
+  constexpr std::size_t PERIOD_MS        = 50; // ms
+  constexpr std::size_t FOUL_DURATION_MS = 5 * 1000; // ms
   constexpr double      FOUL_THRESHOLD = 4.; // number of robots in penalty area
+  constexpr double      DEADLOCK_DURATION_MS  = 5000; // ms
+  constexpr double      DEADLOCK_THRESHOLD = 0.05; // m/s
+
+  constexpr std::size_t NUM_COMMENTS = 10;
 
   constexpr std::size_t MSG_MAX_SIZE = 90000; // bytes
 
@@ -98,6 +103,7 @@ namespace constants {
     SCORE_RED_TEAM = 2,
     SCORE_BLUE_TEAM = 3,
     GAME_END = 4,
+    DEADLOCK = 5,
   };
 
   constexpr std::array<std::size_t, 5> CODEWORDS = {