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NEWS
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NEWS
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[15.2.2.light6]
* Update to latest rcssserver version
[15.2.2]
* Fixed a bug of the backpass detection. If kick and catch are taken
simultaneously by same team players but the before kicker also
belongs to the same team, the backpass violation is detected.
[15.2.1]
* Fixed a bug of the backpass detection. Two or more players from
different teams kick the ball in the same game cycle, the backpass
violation is never detected.
[15.2.0]
* Fixed an issue with the CatchRef which did not allow a goalie to
catch the ball, after having intercepted it from an opponent,
dribbled to its own area and catch it. Regardless of the
interception position, this should never lead to a foul being
called. Thanks go to Fernando Almeida for reporting the problem
and providing the patch.
* Changed the defalut value of server::log_date_format from
"%Y%m%d%H%M-" to "%Y%m%d%H%M%S-".
* Fixed a defect of boost detection.
[15.1.0.light6]
* Fix pos command, players move in a straight line - improved player speed
[15.1.0.light5]
* Fix Light response with angle
[15.1.0.light4]
*
push( PVector::fromPolar( effective_dash_power,
normalize_angle( angleBodyCommitted() + Deg2Rad( dir ) ) ) );
was modified to
push( PVector::fromPolar( effective_dash_power,
normalize_angle( Deg2Rad( dir ) ) ) );
And the agents still do not turn towards the target position.
[15.1.0.light2]
* Added void serializeVisualObject( std::ostream & strm,
const std::string & name,
const double & x,
const double & y ) to serializer.h
[15.1.0.light1]
* Modifying the visual protocol response was not a very good idea, because,
for example, the agent2d-3.1.0 works well with it, but the Atan-based teams do not.
The server::light_response command line option may be used to switch on this "light response".
The default value of this parameter is false.
[norbert@matrica rcssserver-15.1.0.light1]$ src/rcssserver server::light_response=true
[15.1.0.light0]
* See the chapter "Emasculation of the AI-based simulation model of RCSS" of the book entitled
"Paternoster of Programmers Reloaded: C, C++, Java, Python and AspectJ Case Studies"
http://www.inf.unideb.hu/~nbatfai/konyvek/POPR/popr.book.xml.pdf
* Changed files:
- player.cpp
added position() functions that are based on corresponding dash() functions
- added listening for the new "pos" RCSS client protocol command to flex
lexer and bison parser files
- visualsenderplayer.cpp
added sending back the player's position as a part of the visual info
- configure.ac, Makefile.ac
* Added files:
- lightclient.cpp
this agent, called "Debreceni Lobogó FC++", is a simple threaded
version of rcssserver/client.cpp It is used in our Programming
laboratory exercises at the University of Debrecen. For details,
see the books "Bátfai Norbert: Programozó Páternoszter újratöltve:
C, C++, Java, Python és AspectJ esettanulmányok"
http://www.inf.unideb.hu/~nbatfai/konyvek/PROP/prop.book.xml.pdf
and "Bátfai Norbert: Mesterséges intelligencia a gyakorlatban: bevezetés
a robotfoci programozásba" http://www.inf.unideb.hu/~nbatfai/konyvek/MIRC/mirc.book.xml.pdf
- lobogofcpp.h
- lobogofcpp.ll
Norbert Bátfai, PhD
batfai.norbert@inf.unideb.hu, nbatfai@gmail.com
IT Dept, University of Debrecen
[15.1.0]
* Fixed a defect of boost detection by updating autoconf macros.
* Fixed a bug of referee's player clearance operation after fouls.
* Fixed a defect of zero division in Quantize method.
[15.0.1]
* Fixed a defect of clang specification. Now, directive names or
ID strings are limited within 8 characters.
[15.0.0]
* New parameters:
- server::red_card_probability (default value: 0.0)
* Changed parameters:
- server::drop_ball_time (200 -> 100)
- server::golden_goal (true -> false)
* Improvement of the offside referee. The automatic referee checks
whether offside position players actually touched to the ball or
not, or whether offside position players intended to approach the
ball by kick/tackle command and their position is located within
server::offside_active_area from the ball.
* Improvement of the catch model.
- If goalie fails to catch the ball beyond the fuzzy catchable
area, the ball has no effect. (same as the previous model)
- If goalie fails to catch the ball within a fuzzy catchable area,
the ball is accelerated to the catch command direction. It is
similar to the ball bouncing from the wall that the normal
vector's direction is same as the catch command direction.
* Improvement of the foul model. In the previous foul model, players
never get the red card immediately even if they intentionally
perform a foul action. As a result, players can perform an
intentional foul safely if they have no yellow card. Now,
the server::red_card_probability variable is used to determine
whether a player get the red card if it performs an intentional
foul, or whether a players get the yellow card if it performs a
dangerous tackle. If red_card_probability is 0.01 and player's
foul_detect_probability is 0.5, the actual red card probability
becomes 0.005.
* Removing automatic player clearance during stoppage time. For
example, left side players can approach to the ball during the
playmode offside_l, but they are kept away from the ball before
the playmode is changed to freekick_r.
* allowed '+' as a team name character.
* Fixed a build problem caused by boost::filesystem3.
[14.0.3]
* Fixed a bug of the overtime handling when server::golden_goal is
false. Thanks go to Thomas Gabel for reporting the problem.
[14.0.2]
* Fixed a problem of automatic heterogeneous player assignment. Now,
the player type ID of unchanged player is never broadcasted.
* Fixed a compilation problem on gcc-4.4.1. Thanks go to Ke Shi for
reporting the problem.
[14.0.1]
* Fixed an incorrect catch model implementation. Thanks go to Bruno
Vinicius for reporting the problem. The following pseudo code
shows a corrected trade-off rule of the catch model:
// catchable_area_l_stretch is the heterogeneous parameter,
// currenlty within [1.0,1.3]
double this_catchable_are_delta
= server::catchable_area_l * ( catchable_area_l_stretch - 1.0 );
double this_catchable_area_l_max = server::catchable_area_l
+ this_catchable_are_delta;
double this_catchable_area_l_min = server::catchable_area_l
- this_catchable_are_delta;
if ( ball_pos is inside the MINIMAL catch area )
{
// the MINIMAL catch area has a length of
// this_catchable_area_l_min and width server::catchable_area_w
//
// goalie catches the ball with probability
// server::catch_probability (which is 1.0 by default)
}
else if ( ball_pos is beyond the MAXIMAL (stretched) area )
{
// the MAXIMAL catch area has a length of
// this_catchable_area_l_max and width server::catchable_area_w
//
// goalie definitely misses the ball
}
else
{
double ball_relative_x = ( ball_pos - goalie_pos )
.rotate( -(goalie_body + catch_dir) ).x;
double catch_prob
= server::catch_probability
- server::catch_probability
* ( ball_relative_x - this_catchable_area_l_min )
/ ( this_catchable_area_l_max - this_catchable_area_l_min );
// goalie catches the ball with probability catch_prob
// it holds: catch_prob is in [0.0,1.0]
}
[14.0.0]
* New parameters:
- server::tackle_rand_factor (default value: 2.0)
- server::foul_detect_probability (default value: 0.5)
- server::foul_exponent (default value: 10.0)
- server::foul_cycles (default value: 5)
- server::golden_goal (default value: true)
- player::kick_power_rate_delta_min (default value: 0.0)
- player::kick_power_rate_delta_max (default value: 0.0)
- player::foul_detect_probability_delta_factor (default value: 0.0)
- player::catchable_area_l_stretch_min (default value: 1.0)
- player::catchable_area_l_stretch_max (default value: 1.3)
* Changed parameters:
- server::stamina_capacity (148600.0 -> 130600.0)
- server::dash_angle_step (90.0 -> 45.0)
- server::side_dash_rate (0.25 -> 0.4)
- server::back_dash_rate (0.5 -> 0.6)
* Improvement of the dash model. The new server::dash_angle_step
value enables players to dash into eight directions. The value of
server::side_dash_rate and server::back_dash_rate are increased to
enable more acceleration in sideward/backward dashes.
* Improvement of the stamina model. The stamina capacity value is
changed from 148600.0 to 130600.0.
* Increasing tackle noise. server::tackle_rand_factor parameter is
introduced and, consequently, each heterogeneous player type has
an independent tackle_rand parameter. With this parameter, the
noise of tackle effect is increased more than kicking noise. Each
heterogeneous tackle_rand value is caluculated as follows:
tackle_rand = kick_rand * server::tackle_rand_factor
* Introducing fouls for dangerous tackle situations. If players
perform a tackle command under specific conditions and the referee
detects it, then the playmode is changed to
foul_charge_[lr]
where l or r is the side of the tackling player. After wait
cycles, the play mode is changed to "free_kick_[lr]" or
"indirect_free_kick_[lr]", where l or r is the side of ball
handling player. When foul occurs in penalty areas,
- if the side of penalty area is same as the penalized player's
side, indirect free kick is awarded to the other team at the
position where foul occurs.
- else, the ball is moved to the outside of penalty
area and free kick is awarded to the other team.
Currently, the dangerous conditions are defined as follows:
- The ball handling player exists between the tackling player
and the ball.
- The ball handling player's body angle is directed to the
opposite side of the tackling player.
- The ball handling player is performing dash command.
- Finally, the foul is determined randomly using
foul_detect_probability of each heterogeneous player type.
* Introducing intentional foul option. Now, intentional foul playing
and yellow/red cards are introduced. The tackle command is
extended by an additional boolean parameter, i.e.
(tackle DIR {true|false})
which indicates that the player is willing to foul his
opponent. If the boolean parameter is omitted, the false value is
used by default.
Details:
a) if foul flag is false:
normal tackle behavior, i.e. tackling for the ball
b) if foul flag is true AND ball not in kick range of opponent:
normal tackle behavior
c) if foul flag is true AND ball IS in kick range of opponent:
c1) tackle the ball, but apply a higher tackle exponent
(server::foul_exponent = 10)
c2) if the foul succeeds (with probability determined in c1):
the foul-playing player does *not* have to remain idle
for server::tackle_cycles cycles. but instead the opponent
player (the player to which the foul has been applied) must
remain idle (lie on the ground) for server::foul_cycles
cycles.
c3) if the foul succeeded:
the referee detects the foul with probability
foul_detect_probability.
=> free kick for other team
c4) if the referee detected the foul AND the dangerous
conditions specified in the previous section are met:
=> yellow card to the player AND free kick for other team
c5) if the referee detected the foul AND the dangerous
conditions are met AND the ball is in the penalty area
where its side is same as the penalized player's side
=> yellow card to the player AND indirect free kick for
other team
c6) if player has two yellow cards:
=> red card to the player AND the player is disconnected
from the Soccer Server
* Red and Yellow cards. If an intentional and dangerous foul is
detected, the referee penalizes the player and sends the yellow/red
card message toclients. The message format is similar to playmode
messages. Side and uniform number information of penalized player
are appended to the card message:
(referee TIME yellow_card_[lr]_[1-11])
or
(referee TIME red_card_[lr]_[1-11])
* Foul information in sensory messages.
- Players can receive their idling cycles caused by intentional
foul and their card status every cycle by sense_body
message. These information are appended after the previous
format and are sent only to v14 or later clients.
(sense_body TIME ....
...
(foul (charged CYCLE) (card {none|yellow|red})))
CYCLES is the number of cycles the current idling will last
for, with 0 indicating that the player isn't idling.
As well as sense_body message, players can receive all players'
foul information by fullstate message:
(fullstate TIME ...
...
((p {l|r} <unum> [g] <player_type_id>)
<pos.x> <pos.y> <vel.x> <vel.y> <body_angle> <neck_angle>
[ <point_dist> <point_dir>]
(<stamina> <effort> <recovery> <capacity>)
[t|k|f] [y|r])
...
The character 'f'(indicates player is lying on the ground),
'y'(indicates yellow card) or'r '(indicates red card) are
appended to each player information.
- Coaches can receive all players' idling and card status by
see_global message. These information are sent only to v14 or
later clients. As well as player's fullstate message, 'f', 'y'
or 'r' are appended to each player information as follows:
((p "TEAM" UNUM[ goalie]) X Y VX VY BODY NECK[ ARM][ {t|k|f}][ {y|r}])
- New player state flags, FOUL_CHARGED, YELLOW_CARD and RED_CARD,
are introduced to record/send players' status to game log or
monitor clients.
* Introducing heterogeneous goalie. Online coaches now can change
the player type of goalie. The 'catchable_area_l_stretch' variable
is added to each heterogeneous player type. The value is
caluculated as follows:
double delta = random( player::catchable_area_l_stretch_min,
player::catchable_area_l_stretch_max );
catchable_area_l_stretch = delta;
As a trade-off, such a goalie would have a reduced catch success
reliability according to:
double default_catchable_area_l = server::catchable_area_l;
double this_catchable_area_l = default_catchable_area_l * catchable_area_l_stretch;
if ( ball_pos is inside the default catch area )
{
// goalie catches the ball with probability server::catch_probability
}
else if ( ball_pos is beyond the stretched area )
{
// goalie definitely misses the ball
}
else
{
double ball_relative_x = ( ball_pos - goalie_pos ).rotate( -(goalie_body + catch_dir) ).x;
double catch_prob
= server::catch_probability
- server::catch_probability * ( ball_relative_x - server::catchable_area_l )
/ ( this_catchable_area_l - default_catchable_area_l );
// goalie catches the ball with probability catch_prob
}
And, now, the information of goalie's player type id is sent to
players with fullstate message. If players connect as v14 or later
client, they can receive the following player information in the
fullstate message:
(p {l|r} <unum> [g] <player_type_id>)
* Introducing heterogeneous kick power rate. The variable of
'kick_power_rate' and 'foul_detect_probability' are added to each
heterogeneous player type. These values are calculated as follows:
delta = random( player::kick_power_rate_delta_min,
player::kick_power_rate_delta_max )
kick_power_rate = server::kick_power_rate + delta
foul_detect_probability = server::foul_detect_probability
+ player::foul_detect_probability_delta_fact * delta
In this trade-off, we assume that a player who is rather strong
(and, thus, can shoot very strongly), is not very smart (and, thus,
cannot very well deceive the referee when doing a foul).
Since the introduction of foul is a new feature to be added, we do
*not* change the kick power rate actually in v14 in order to
provide a migration period to teams. So, the above parameters are
set to 0. These parameters will be changed in v15 or later.
* Golden goal option. The new switch option, 'server::golden_goal',
determines when the game finishes in extra halves. If
server::golden_goal is true and the goal is scored in extra
halves, the game finishes immediately. If server::golden_goal is
false, the game is continued during all extra halves even if the
goal is scored. This option is introduced to enable more flexible
competition scheme.
[13.2.2]
* Fixed a bug of the player clearance from the ball.
* Fixed a bug of the back passer update in the referee module.
* Fixed a bug that offense side players are cleared from the ball
in back_pass_? and catch_fault_? playmode.
[13.2.1]
* Added the missing comma in CSVSaver. Thanks go to Andreas
Hechenblaickner for reporting the problem.
[13.2.0]
* Changed parameters:
- server::synch_see_offset (30 -> 0)
- server::pen_max_extra_kicks (10 -> 5)
- server::pen_before_setup_wait (30 -> 10)
- server::pen_ready_wait (50 -> 10)
- server::pen_setup_wait (100 -> 70)
- server::pen_taken_wait (200 -> 150)
* Fixed a timer bug of the penalty kick referee.
[13.1.1]
* Fixed a bug of the indirect free kick referee.
* Fixed incorrect online coach names for result savers. Thanks
go to Andreas Hechenblaickner for reporting the problem.
* Fixed gcc-4.4 compilation problems. Thanks go to Hedayat Vatankhah
providing the patch.
[13.1.0]
* Fixed a defect of a new dash model. Now, a dash direction is
discretized before calculating a dash power effectiveness.
For example, if server::dash_angle_step is 90, the command
"(dash 100 40)" is equivalent to "(dash 100 0)" and the command
"(dash 100 46)" is equivalent to "(dash 100 90)". Thanks go to
Holger Endert for reporting the problem.
* On Cygwin, replaced the player command parser generated by
flex/bison with the hand-coded parser, in order to avoid the
defect of Cygwin's flex/bison.
* The configure script supported the FLEX environment variable, that
can specify a certain flex command location.
[13.0.2]
* Fixed a ball catcher bug that causes a strange penalty shoot outs
play. Thanks go to Ke Shi for reporting the problem.
[13.0.1]
* Fixed build problems with bison 2.4
* Fixed defects on FreeBSD and MacOSX.
* Supported cygwin.
* Changed the default configuration file location on Windows. Now,
configuration files are generated under the rcssserver's working
folder.
* Fixed defects of the directory creation. Now, rcssserver can
create a nested directory for configuration files or log files.
* Fixed defects of the team graphic broadcasting. Now, team graphic
messages are sent to all monitors connected after coaches.
* Now, an offline coach receive an error messag if an offline
coach tries to connect without coach mode.
* Added a header line to the first CSVSaver output.
[13.0.0]
* RCSSBase is now integrated into RCSSServer. It is not necessary
for you to install RCSSBase before the RCSSServer installation.
* New parameters:
- server::stamina_capacity (default value: 148600.0)
- server::max_dash_angle (default value: 180.0)
- server::min_dash_angle (default value: -180.0)
- server::dash_angle_step (default value: 90.0)
- server::side_dash_rate (default value: 0.25)
- server::back_dash_rate (default value: 0.5)
- server::max_dash_power (default value: 100.0)
- server::min_dash_power (default value: -100.0)
* Changed parameters:
- server::stamina_max (4000 -> 8000)
- server::max_back_tackle_power (50.0 -> 0.0)
- server::extra_half_time (300 -> 100)
- server::player_speed_max (1.2 -> 1.05)
- server::player_speed_max_min (0.8 -> 0.75)
- server::extra_stamina (0.0 -> 50.0)
- player::player_decay_delta_min (-0.05 -> -0.1)
- player::extra_stamina_delta_max (100.0 -> 50.0)
- player::effort_mix_delta_factor (-0.002 -> -0.004)
- player::effort_man_delta_factor (-0.002 -> -0.004)
- player::new_dash_power_rate_delta_min (-0.0005 -> -0.0012)
- player::new_dash_power_rate_delta_max (0.0015 -> 0.0008)
* Changed a stamina model. The new parameter
server::stamina_capacity defines the maximum recovery capacity for
each player. When player's stamina is recovered during the game,
his stamina capacity is also consumed. If the player's stamina
capacity becomes 0, his stamina is never recovered and he can use
only his extra stamina. The recovery policy of the stamina
capacity is as follows:
- normal halves
The stamina capacity is reset to the initial value just after
the kick off as well as the other stamina related variables.
- extra halves and penalty shootouts
The stamina capacity is reset to the initial value just after
normal halves if the game is not over, but is never recovered
at the half time and before the penalty shootouts.
If server::stamina_capacity is set to a negative value, players
have an infinite stamina capacity. This setting makes the new
stamina model completely same as the old stamina model.
* Changed a dash model. Players can now add the dash direction as
the second argument of his dash command:
`(dash <power> <dir>)'
The dash direction is relative to player's body angle (or reverse
side angle if dash power is negative value) and is restricted
within [server::min_dash_angle,server::max_dash_angle]. The dash
power effectiveness is affected by the magnitude of dash
angle. Players can dash in direction of their body (or reverse
side angle if dash power is negative) using 100% of power, in
backward with server::back_dash_rate(0.5) of power and in sideward
with server::side_dash_rate(0.25) of power. The dash power
effectiveness will increase between sides and body direction from
server::side_dash_rate(0.25) to 1.0 and between sides and backward
from server::side_dash_rate(0.25) to server::back_dash_rate(0.5).
dir_rate = ( fabs( dir ) > 90.0
? back_dash_rate - ( back_dash_rate - side_dash_rate )
* ( 1.0 - ( fabs( dir ) - 90.0 ) / 90.0 )
: side_dash_rate + ( 1.0 - side_dash_rate )
* ( 1.0 - fabs( dir ) / 90.0 ) );
Please note that server::min_dash_power will be set to 0 in the
future simulator (v14 or later). This means the negative dash
power will be forbidden completely.
In order to balance with older binaries and to enable flexible
settings, server::dash_angle_step parameter has been
introduced. This parameter defines the discreteness of player's
dash direction. If server::dash_angle_step is 90.0, players can
dash only in four directions (forward, backward and two
sidewards).
* Changed heterogeneous player parameters. Now, heterogeneous
players' dash speed become slower.
* Forbad a backward tackle. Now, server::max_back_tackle_power is
set to 0. This means the tackle command directed to 180.0 degree
has no effect.
* Changed an overtime length. Now, the default overtime length
is set to 1000 cycles.
* Supported a protocol version 13.
- All new parameters are sent to v.13 or later clients.
- server::extra_half_time parameter is now sent to v.13 or later
clients.
- Version 13+ players and coaches can see players' kicking state.
When players can see another players team, they can also see if
that player is kicking via a `k' flag as follows:
`((p "<TEAMNAME>" <UNUM>) <DIST> <DIR> <DISTCHG> <DIRCHG>
<BDIR> <HDIR> [<POINTDIR>] [{t|k}])'
`((p "<TEAMNAME>") <DIST> <DIR> [<POINTDIR>] [{t|k}])'
Coach visuals now can indicate if a player is kicking via a `k'
flag as follows:
`((p "<TEAMNAME>" <UNUM>) <X> <Y> <VEL_X> <VEL_Y> <ANGLE>
<NECK_ANGLE> [<ARM_DIR>] [{t|k}])'
If an observed player is tackling, the kicking flag is always
overwritten by the tackle flag.
Please note that the kicking state can be seen within one cycle
just after kicking.
- The stamina capacity information is added to sense_body message
as follows:
`(stamina <STAMINA> <EFFORT> <CAPACITY>)`
* Supported a monitor protocol version 4 and a game log format
version 5. In these versions, players' stamina capacity
information are contained in each player data. Now, these versions
are used by default.
* Now, stoppage time information is recorded in the text log(.rcl)
files.
* Supported the environment variable RCSS_CONF_DIR. With this
variable, you can specify the default location of configuration
files.
[12.1.5]
* Fixed build problems with boost::system.
[12.1.4]
* Fixed library dependencies and a problem in 64bit platforms.
Thanks go to Hedayat Vatankhah for providing the patches.
[12.1.3]
* This release is the version for the final round of RoboCup2008.
* Added new parameter, server::extra_half_time(default: 300). This
parameter changes the length of each extra half. Please note that,
at least in this release, rcssserver never send
server::extra_half_time to v.12 or older clients via the
server_param message.
[12.1.2]
* Fixed gcc 4.3 compilation problems. Thanks go to Hedayat Vatankhah
for providing the patch.
* Fixed gcc 4.4 warnings.
[12.1.1]
* Fixed an endless loop bug in the collision check with goal
posts. Thanks go to Alexander Burger for reporting the
problem.
* Fixed defects of the back pass rule.
- Now, the back pass rule does not apply if goalie catches the
ball after his own kick but the previous ball kicker is an
opponent player and both kicks are performed within the same
play_on period.
- Now, the back pass rule applies if a teammate player holds the
ball and kicks the ball just after goalie's catch in the same
cycle.
- Fixed a defect of timer count when trainer changes the playmode.
[12.1.0]
* Slightly changed the game log format version 4. Now, players'
pointing points are recorded by the global value of left-hand
coordinate system.
* The size of team_graphic image can be smaller than 256x64. Any xpm
graphic that the size is 8*m x 8*n (0<m<=32,0<n<=8) is acceptable.
* Now, team_graphic messages are always recorded in the game log
file as msg info.
* Now, the game date and result are recorded at the end of the game
log file as msg info.
* Fixed a defect of log file flushing.
* Disabled the stdoutsaver by default. Instead, the rcsoccersim
script will try to load the stdoutsaver module.
* Fixed an incorrect result message of penalty shootouts in
stdoutsaver.
[12.0.1]
* Fixed a change_view command bug in the synchronous mode. Thanks go
to Tobias Springenbergr for reporting the problem and providing
the patch.
[12.0.0]
* Supported the monitor protocol version 3 and the game log format
version 4. Now, these are used by default.
* Fixed a build problem on some platforms.
[12.0.0_pre-20080210]
* New parameter:
- server::synch_see_offset (default value: 30)
* Renamed parameter:
- server::min_tackle_power -> server::max_back_tackle_power
(default value: 50.0)
* Changed parameters:
- server::tackle_power_rate (0.0135 -> 0.027)
- server::tackle_back_dist (0.5 -> 0.0)
- server::tackle_width (1.0 -> 1.25)
* New command:
- "(synch_see)"
All version players can use this command. If the command is
accepted, rcssserver sent a reply message, "(ok synch_see)".
This command is used for a synchronous mode describing below.
* Changed a see message timer. There are 2 modes for all players,
the asynchronous mode and the synchronous mode. The asynchronous
mode is completely same as v.11 or older timer and is a default
mode for all players including v.12 players. If players send the
"(synch_see)" command, they enter to the synchronous mode and
cannot return to the asynchronous mode. v.11 or older players
also can use this command and the synchronous mode.
In the synchronous mode, the "low" view quality cannot be used and
the following view width are available:
| mode | view width(degree) | see frequency |
| narrow | 60 | every cycle |
| normal | 120 | every 2 cycles |
| wide | 180 | every 3 cycles |
In all view modes, rcssserver send see messages at
server::synch_see_offset(30) ms from the beginning of the cycle.
Each view width can be calculated as follows:
narrow: 60 = visible_angle(90) * send_step(150) / sim_step(100)
normal: 120 = narrow * 2
wide: 130 = narrow * 3
* Changed a tackle model for v.12 players based on the Thomas
Gabel's proposal. Now, the argument of the tackle command sent by
v.12 players means the ball acceleration angle relative to the
player's body angle. Effective power for tackle(angle) is
calculated as follows:
eff_power = ( max_back_tackle_power
+ ( max_tackle_power - max_back_tackle_power )
* ( 1 - fabs( angle )/PI ) )
* tackle_power_rate
* Changed a tackle power restriction rule for the v.11 or older
players as follows:
power = max( -max_back_tackle_power,
min( max_tackle_power, power ) )
This means a tackle power is restricted within [-50,100] in the
default settings. Note that a backwards tackle might be completely
forbidden (max_back_tackle_power is set to 0) in the v.13 or later
simulator.
* Added a tackle power reduction according to the ball position as
follows:
eff_power *= 1 - 0.5*( fabs( player_2_ball.th() )/PI
* Changed a kick noise model. This change is motivated by the Mehrab
Norouzitallab's proposal. Now, the maximum kick noise is directly
proportional to the kick power, the ball distance, the ball
direction and the ball speed. When the kick power is 0, the kick
noise becomes always 0.
pos_rate = 0.5 + 0.25*( dir_diff/PI + dist_2_bal/kickable_margin )
For tackle: pos_rate = 0.5 + 0.5*( 1.0 - tackle_prob )
speed_rate = 0.5
+ 0.5*( ball_speed / (ball_speed_max*ball_decay) )
max_rand = kick_rand
* ( power / max_power )
* ( pos_rate + speed_rate )
kick_noise = polar2vector( rand( 0, max_rand ),
rand(-PI,PI) )
* Added an automatic version check for configuration files. If
configuration files do not contain a version parameter that is
same as the rcssserver's release version, rcssserver will exit
with error messages.
* (Not fixed yet) Supported the monitor protocol version 3 and the
game log format version 4. From these versions, data is
represented by human readable text messages. The default version
of game log format is still 3 in 12.0.0_pre-20080210 because the
format has not been fixed yet and the implementation has not been
completed yet.
* (Test version) Introduced a new catch model based on the
Sebastian Marian's proposal. The catch probability is set to
unreliable catches. If ball is not within the goalie's reliable
catch area, the catch probability is calculated according to the
ball position and the goalie's catch command might be failed.
Note that this rule is not actually used in the default
settings of v.12 server. If you try to test this rule, you need
to change the server::catchable_area_l(default value: 1.2)
parameter to the value greater than
server::reliable_catch_area_l(default value: 1.2). And
server::min_catch_probability(default value: 1) also need to be
change to [0, 1]. RCSSServer can read these parameter from
server.conf, but does not send them to clients.
[12.0.0_pre-20071217]
* Supported a protocl version 12. Now, players and coaches can
connect as a version 12 client. In the version 12 protocol,
- Players can change view width only to normal or wide and cannot
change the view quality. Instead of them, players can receive
see messeage at the begining of every cycle if their view width
is normal. If players' view width is wide, see message is
received once every two cycles. The new message arrival order is
as follows:
sense_body (-> fullstate) -> hear -> see
- The new variation of change_view command is supported. Now,
player can send the following format change_view command:
(change_view <ViewWidth>)
If version 11 or older players send this format command, their
view quality is set to high.
- Collision information is added to the sense_body message. The
following format message is appended to the end of sense_body:
(collision {none|[(ball)][(player)][(post)]})
For example, version 12 players may receive the following
message.
(sense_body 0 (view_mode high normal) (stamina 4000 1)
(speed 0 0) (head_angle 0) (kick 0) (dash 0) (turn 0) (say 0)
(turn_neck 0) (catch 0) (move 0) (change_view 0)
(arm (movable 0) (expires 0) (target 0 0) (count 0))
(focus (target none) (count 0)) (tackle (expires 0) (count 0))
(collision (ball) (player)))
* New parameters:
- server::extra_stamina (default value: 0.0)
- server::max_tackle_power (default value: 100.0)
- server::min_tackle_power (default value: 0.0)
- server::player_speed_max_min (default value: 0.8)
- server::max_monitors (default value: -1)
- player::allow_mult_default_type (default value: false)
* Changed parameters:
- server::ball_speed_max (2.7 -> 3.0)
- server::catchable_area_l (2.0 -> 1.2)
- server::kick_rand (0 -> 0.1)
- server::tackle_power_rate (0.027 -> 0.0135)
- player::player_types (7 -> 18)
- player::pt_max (3 -> 1)
- player::kick_rand_delta_factor (0.5 -> 1)
- player::kickable_margin_delta_max (0.2 -> 0.1)2
- player::kickable_margin_delta_min (0 -> -0.1)
- player::new_dash_power_rate_delta_max (0.002 -> 0.0015)
- player::new_dash_power_rate_delta_min (0 -> -0.0005)
- player::new_stamina_inc_max_delta_factor (-10000 -> -6000)
- player::player_decay_delta_max (0.2 -> 0.1)
- player::player_decay_delta_min (0 -> -0.05)
* Now, the player's maximum dash speed is restricted within
server::player_speed_max_min(0.8) and
server::palyer_speed_max(1.2). In the heterogeneous player
generation procedure, if the generated player type can run faster
than server::player_speed_max or cannot run faster than
server::player_speed_max_min, rcssserver rejects that type and try
to regenerate another one.
* The default value of player::player_types parameter is changed to
18, and the default value of player::pt_max paremter is changed to
1. Now, the restriction of player::pt_max is also applied to the
default player type. This means that all field players have to be
changed to the non-default type because the type of goalie cannot
be changed. If server::allow_mult_default_type is false and teams
use the default player type more than player::pt_max, rcssserver
automatically assign the heterogeneous player type to field
players just before the playmode is changed to kick-off.
* Added a new restriction to the player substitution. Now, the
online coach can substitute a same player type within
player::pt_max times. This restriction is not applied to the
default player type. If player::pt_max is 1, each player type
except the default type can be used only once.
* Slightly changed a noise model for movable objects. The new
formula is as follows:
double maxrnd = rand_param * speed;
PVector noise = polar2vector( drand( 0.0, maxrnd ),
drand( -PI, PI ) );
* Changed a kick noise model. Now, the current ball speed affects
the maximum kick noise value. Note that the maximum kick noise
value has no effects if player's kick_rand parameter is 0.
double maxrnd = kick_rand
* kick_power / max_power
* ( 1.0
+ 0.25*(dir_diff/PI + dist_2_ball/kickable_margin)
+ 0.5*(ball_speed/(ball_speed_max * ball_decay)) )
PVector kick_noise = polar2vector( drand( 0.0, maxrnd ),
drand( -PI, PI ) );
* The tackle power sent by player's command is restricted within
server::min_tackle_power and server::max_tackle_power. This means
the backward tackle is forbidden now.
* Changed a back pass rule. Now, an indirect free kick is taken
after the back pass at the location where the back pass
occured. Note that an indirect free kick can be started within
penalty areas.
* Changed a catch fault rule. Now, direct free kick is taken after
the catch fault.
* Now, goalie cannot catch the ball just after his kick. In such a
case, back_pass_[lr] is taken.
* Now, player's stamina, effort and recovery are never recovered at
the half time in the extra halves.
* Now, rcssserver accepts some coach commands from monitor clients
if coach mode is enabled.
* If server::max_monitor is a positive value, the total number of
monitor clients that can connect to the rcssserver is restricted
within that number. If server::max_monitor is a negative
value(default), there is no restriction.
[11.1.2]
* Fixed a bug in the offside referee.
[11.1.1]
* Fixed a bug related to the boost::random.
* Fixed a bug in the offside referee.
* Fixed a problem in the module path string configuration.
[11.1.0]
* Just updated a minor version number. Official relasese for the
RoboCup2007.
[11.0.5]
* Supported a client protocol version 10 and 11. There are no
difference between version 9 and 10. If the clients connect as a
version 11 client, server_param message contains new parameters,
'ball_stuck_area' and 'coach_msg_file'. And, if the file specified
by 'coach_msg_file' exists, version 11 coaches receive the external
message contained by the 'coach_msg_file'.
* Changed the format of the external message format for the coach
client. Now,included data is sent by the following format:
(include <BYTES> <DATA>)
e.g.
(include 4 test)
(include 26 ((name LEFT) 5 3 1 1 12 2))
(include 30 ((team LEFT) (team RIGHT) 2 1))
<BYTES> means the byte size of <DATA>. So, We can also send a binary
data to the coaches.
* Fixed first two problems in the penalty kick(#1720067). Thanks go
to Ralf Berger for reporting the problem and providing the patch.
* Fixed third problem in #1720067. Now, if the defending team player
kicks the ball, penalty_foul() is called immediately and the score
is awarded to the taker team. Thanks go to Ralf Berger for
reporting the problem.
* Fiexed a penalty kick bug that the goalie can catch the ball
anywhere.
* Fixed a rule about goalie catch fault and back pass. Now, if the
goalie catches the ball outside the penalty area, catch_fault_[lr]
is called and an indirect free kick is awarded to the opposite
team at the ball caught point after CATCH_FAULT_WAIT(30) cycles.
* Fixed bugs in the gzip compressor/decompressor reset operation.
[11.0.4]
* Fixed a defect in the random number generation.
[11.0.3]
* Fixed a goal kick rule. Now, any opposite side players must not
kick or touch the ball while goal kick mode. If opposite side
players kick or touch the ball before the ball goes out of the