Merge branch 'release/v0.5'

.gitignore

@@ -1,3 +1,4 @@
 worlds/*.wbproj
 controllers/*/build
+plugins/physics/*/build
 *.cache

README.md

@@ -1,48 +1,60 @@
-# test_world
+# AI World Cup Simulation
 
+The AI World Cup simulation environment for usage in local PCs. Participants of [AI World Cup](http://aiworldcup.org) can download the program to develop their own algorithm for AI Soccer, AI Commentator, or AI Reporter. After development, participants of [AI World Cup](http://aiworldcup.org) can upload their algorithm online and test against others' on server provided by us. The online simulation running on our server for test matches can be used through [AI World Cup Web Simulator page](http://aiworldcup.org/web-si). As the qualifying/main rounds will be run in a same environment with the web simulation, please make sure that the developed program works in the web simulator.
+
+- There are two ways to download the AI World Cup simulation program.
+- AI World Cup simulation program requires Webots Robot Simulator. Please refer to Webots official website's [installation procedure](https://www.cyberbotics.com/doc/guide/installation-procedure) to install Webots.
 - Downloading ZIP file through 'Download ZIP' will not work. It does not download the submodules related to the program.
-- To use git command, use '--recurse-submodules' option to clone submodules along with the main repository (git clone https://(address) --recurse-submodules).
-- Follow below to download the program directly from the web browser.
 
-**How to download the program**
+**How to download the simulation program**
+
+Method 1. Go to [releases](https://github.com/aiwc/test_world/releases) and download the latest version (test_world.v0.5.zip).
+
+Method 2. Use following git command
 
-1. Go to releases (https://github.com/aiwc/test_world/releases)
-2. Download the latest version of 'test_world' (zip for windows, tar.gz for linux)
+      ## Windows only. Carriage return will invalidate simulation files.
+      git config --global core.autocrlf false
 
-**How to install and run the program**
+      ## Both Linux and Windows
+      git clone https://github.com/aiwc/test_world.git --recurse-submodules
 
-1. Go to Wiki page (https://github.com/aiwc/test_world/wiki)
-2. Refer to Webots-related pages
+**How to run the simulation program**
 
-**Directory Description**
+Please refer to the [Wiki pages](https://github.com/aiwc/test_world/wiki).
 
-**controllers**: Contains programs for managing AI Soccer simulation system. **(Programs in this directory are managed by us and need not be modified)**
+**Descriptions**
 
-- soccer_robot: Program that changes robot wheel movements based on received data.
+**controllers**: Contains programs for managing AI World Cup simulation system **(Programs in this directory are managed by us and must not be modified)**
 
-- supervisor: Referee program that manages AI Soccer game.
+- soccer_robot: Program that changes robot wheel movements based on received data
 
-**examples**: Contains sample programs participants can refer to. **(Participants can implement AI Soccer program in similar way with the sample programs in this directory)**
+- supervisor: Referee program that manages AI Soccer game
 
-- common: Contains a basic interface for information handling and communication with the simulator.
+**examples**: Contains sample programs participants can refer to **(Participants may implement AI programs referring to the sample programs provided in this directory)**
 
-- extlibs: Contains external libraries used in sample programs.
+- common: Contains a basic interface for information handling and communication with the simulation program
 
-- (role-prefix)_data: Directories where participants' program may write some files into if needed.
+- extlibs: Contains external libraries used in sample programs
+
+- (role-prefix)_data: Directories where participants' program may write some files into if needed
 
 - Remaining directories contain samples participants can refer to. The sample directory names follow format '(role-prefix)_(program-description)_(programming_language)'.
 
-- (role-prefix): player (AI Soccer), commentator (AI Commentator), reporter (AI Reporter), general (Examples that may help participants from all three competitions).
-- (program-description): Breif decsription of what example the program is.
-- (programming_language): Programming language used to develop the example (C++ or Python).
+- (role-prefix): AI Soccer (player), AI Commentator (commentator), AI Reporter (reporter), general (Examples that may help participants from all three competitions)
+- (program-description): Brief description of what the program does
+- (programming_language): Programming language used in the example. Currently, we have examples for C++ (cpp) and Python (py).
+
+**extlibs**: Contains external libraries used in AI World Cup simulation **(Files in this directory are managed by us and must not be modified)**
 
-**extlibs**: Contains external libraries used in AI Soccer simulator. **(Files in this directory are managed by us and must not be modified)**
+**plugins**: Contains a physics plugin used for ball-robot collision detection **(Files in this directory are managed by us and must not be modified)**
 
-**protos**: Contains AI Soccer object models (robot, ball, stadium, etc.) **(Files in this directory are managed by us and need not be modified)**
+**protos**: Contains AI World Cup object models (robot, ball, stadium, etc.) **(Files in this directory are managed by us and must not be modified)**
 
-**worlds**: Contains AI Soccer simulation world file **(Files in this directory can be run using Webots Robot Simulator)**
+**reports**: If AI World Cup simulation is run with an AI Reporter, the report will be stored in this directory after the game. The created file's name will be (reporter team name specified in config.json).txt. **(Only related to AI Reporters)**
 
-- aiwc_linux.wbt: Webots world file for linux
+**worlds**: Contains AI World Cup simulation world files **(Files in this directory can be run using Webots Robot Simulator)**
 
-- aiwc_windows.wbt: Webots world file for windows
+- aiwc.wbt: Webots world file
+- aiwc_simple.wbt: A simplified version of aiwc.wbt without visual decorations (stadium, grass field, etc.). This world can be run faster than aiwc.wbt without any differences in data observed by the participant's AI program.
 
+**config.json**: Configuration file for setting player executables, setting game duration, and setting some rules on/off for effective training. Please refer to the [Wiki page](https://github.com/aiwc/test_world/wiki/How-to-use-AI-World-Cup-simulation-program) for parameter descriptions **(Participants should modify the player information in this file to tell the simulation which program to execute)**

config.json

@@ -0,0 +1,28 @@
+{
+  "rule": {
+    "game_time": 300,
+    "deadlock": true,
+    "goal_area_foul": true,
+    "penalty_area_foul": true
+  },
+  "team_a": {
+    "name": "teamA",
+    "executable": "examples/player_rulebased_py/player_rulebased.py",
+    "datapath": "examples/team_a_data"
+  },
+  "team_b": {
+    "name": "teamB",
+    "executable": "examples/player_rulebased_py/player_rulebased.py",
+    "datapath": "examples/team_b_data"
+  },
+  "commentator": {
+    "name": "commentator",
+    "executable": "",
+    "datapath": "../../examples/commentator_data"
+  },
+  "reporter": {
+    "name": "reporter",
+    "executable": "",
+    "datapath": "../../examples/reporter_data"
+  }
+}

controllers/soccer_robot/soccer_robot.cpp

@@ -1,8 +1,5 @@
-// File:              soccer_robot.cpp
-// Date:              Jan. 23, 2018
-// Description:       AI World Cup soccer robot controller
 // Author(s):         Inbae Jeong, Chansol Hong
-// Current Developer: Chansol Hong ([email protected])
+// Maintainer:        Chansol Hong ([email protected])
 
 #include <webots/Robot.hpp>
 #include <webots/Motor.hpp>

controllers/supervisor/Makefile

@@ -9,7 +9,8 @@ LFLAGS = -pthread
 
 CFLAGS += -I ../../extlibs/bonefish/include \
 	-I ../../extlibs/msgpack-c/include \
-	-I ../../extlibs/autobahn-cpp/include
+	-I ../../extlibs/autobahn-cpp/include \
+	-I ../../extlibs/rapidjson/include
 
 CXX_SOURCES += supervisor.cpp game.cpp image_buffer.cpp
 
@@ -26,7 +27,7 @@ ifneq ($(OSTYPE),windows)
 # need >=boost-1.64. use bundled boost for systems that has lower version of boost
 CFLAGS += -I ../../extlibs/boost-1.65.1/include
 LFLAGS += -L ../../extlibs/boost-1.65.1/lib/$(OSTYPE)
-BOOST_POSTFIX = 
+BOOST_POSTFIX =
 else
 # webots for windows contains boost
 # winsock

controllers/supervisor/constants.hpp

@@ -1,8 +1,5 @@
-// File:              constants.hpp
-// Date:              Jan. 23, 2018
-// Description:       AI World Cup header for constants
 // Author(s):         Inbae Jeong, Chansol Hong
-// Current Developer: Chansol Hong ([email protected])
+// Maintainer:        Chansol Hong ([email protected])
 
 #ifndef H_CONSTANTS_HPP
 #define H_CONSTANTS_HPP
@@ -24,6 +21,7 @@ namespace constants {
   const std::string DEF_STADIUM = "DEF_STADIUM";
   const std::string NAME_CAMA   = "cam_a";
   const std::string NAME_CAMB   = "cam_b";
+  const std::string NAME_RECV  = "recv";
 
   // these DEF names are for dynamically created node such as ball and robots
   const std::string DEF_BALL         = "DEF_BALL";
@@ -32,11 +30,12 @@ namespace constants {
   const std::string DEF_ROBOT_PREFIX = "DEF_ROBOT";
 
   // cams
-  constexpr std::size_t RESOLUTION_X  = 640;
-  constexpr std::size_t RESOLUTION_Y  = 480;
-  constexpr std::size_t SUBIMAGE_NX   = 40;
-  constexpr std::size_t SUBIMAGE_NY   = 40;
-  constexpr std::size_t CAM_PERIOD_MS = 50; // 20 fps = 50 ms
+  constexpr std::size_t RESOLUTION_X   = 640;
+  constexpr std::size_t RESOLUTION_Y   = 480;
+  constexpr std::size_t SUBIMAGE_NX    = 40;
+  constexpr std::size_t SUBIMAGE_NY    = 40;
+  constexpr std::size_t CAM_PERIOD_MS  = 50; // 20 fps = 50 ms
+  constexpr std::size_t RECV_PERIOD_MS = 50;
   constexpr std::size_t ESTIMATED_SUBIMAGE_SIZE = (RESOLUTION_X / SUBIMAGE_NX) * (RESOLUTION_Y / SUBIMAGE_NY) * 4 + 100;
 
   // Field Dimensions
@@ -61,11 +60,7 @@ namespace constants {
 
   // robot
   constexpr std::size_t NUMBER_OF_ROBOTS = 5;
-  constexpr double MAX_FORCE = 0.1;
-  constexpr double SLIP_NOISE = 0;//.05;
-  constexpr double MAX_LINEAR_VELOCITY = 1.8;
-  constexpr double BODY_MASS = 0.45;
-  constexpr double WHEEL_MASS = 0.05;
+  constexpr double MAX_LINEAR_VELOCITY = 1.5;
 
   constexpr double ROBOT_INIT_POSTURE[NUMBER_OF_ROBOTS][3] = {
     // x, y, th
@@ -77,18 +72,15 @@ namespace constants {
   };
 
   constexpr double ROBOT_FOUL_POSTURE[NUMBER_OF_ROBOTS][3] = {
-    {-2.0, 0.55, 0},
-    {-2.0, 0.70, 0},
-    {-2.0, 0.85, 0},
-    {-2.0, 1.00, 0},
-    {-2.0, 1.15, 0},
+    {-1.99, 0.55, 0},
+    {-1.99, 0.70, 0},
+    {-1.99, 0.85, 0},
+    {-1.99, 1.00, 0},
+    {-1.99, 1.15, 0},
   };
 
   // WAMP router settings
   const std::string SERVER_IP = "127.0.0.1";
-  constexpr std::size_t WS_PORT = 6217;
-  constexpr std::size_t RS_PORT = 6218;
-  const std::string RS_PATH = "/tmp/aiwc.sock";
   const std::string REALM = "default";
 
   constexpr std::size_t KEY_LENGTH = 10;
@@ -101,14 +93,16 @@ namespace constants {
   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_PA_DURATION_MS = 5 * 1000; // ms
-  constexpr std::size_t FOUL_GA_DURATION_MS = 5 * 1000; // ms
+  constexpr std::size_t FOUL_PA_DURATION_MS = 1000; // ms
+  constexpr std::size_t FOUL_GA_DURATION_MS = 500; // ms
   constexpr double      FOUL_PA_THRESHOLD = 4.; // number of robots in penalty area
-  constexpr double      FOUL_GA_THRESHOLD = 2.; // number of robots in goal area
-  constexpr double      DEADLOCK_DURATION_MS  = 5 * 1000; // ms
-  constexpr double      DEADLOCK_THRESHOLD = 0.1; // m/s
+  constexpr double      FOUL_GA_THRESHOLD = 3.; // number of robots in goal area
+  constexpr std::size_t DEADLOCK_DURATION_MS  = 2 * 1000; // ms
+  constexpr std::size_t DEADLOCK_RESET_MS = 5 * 1000; // ms
+  constexpr double      DEADLOCK_THRESHOLD = 0.4; // m/s
+  constexpr double      DEADLOCK_RANGE = 1.5 * (ROBOT_RADIUS + BALL_RADIUS); // robots within this range near the ball are sent off
 
-  constexpr std::size_t NUM_COMMENTS = 10;
+  constexpr std::size_t NUM_COMMENTS = 5;
 
   constexpr std::size_t MSG_MAX_SIZE = 90000; // bytes