private void parseGyro(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
string name = "";
float rx = 0, ry = 0, rz = 0;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
if (pointer.list.val == "n")
{
name = pointer.list.next.val;
}
if (pointer.list.val == "rt")
{
rx = (float)Convert.ToInt32(pointer.list.next.val);
ry = (float)Convert.ToInt32(pointer.list.next.next.val);
rz = (float)Convert.ToInt32(pointer.list.next.next.next.val);
}
}
pointer = pointer.next;
}
Gyro gyro = new Gyro();
gyro.setRate(new Point(rx, ry, rz));
this.worldModel.setGyro(gyro);
}
private void parseBall(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
float x = 0, y = 0, z = 0;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
if (pointer.list.val == "pol")
{
x = (float)Convert.ToInt32(pointer.list.next.val);
y = (float)Convert.ToInt32(pointer.list.next.next.val);
z = (float)Convert.ToInt32(pointer.list.next.next.next.val);
}
}
pointer = pointer.next;
}
Ball ball = new Ball();
ball.setPolarPosition(new Point(x, y, z));
this.worldModel.setBall(ball);
}
private void parseGameState(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
if (pointer.list.val == "t")
{
float t = (float)Convert.ToInt32(pointer.list.next.val);
this.worldModel.setGameStateTime(t);
}
if (pointer.list.val == "pm")
{
string pm = pointer.list.next.val;
this.worldModel.setPlayMode(pm);
}
if (pointer.list.val == "unum")
{
int unum = Convert.ToInt32(pointer.list.next.val);
this.worldModel.setSelfNumber(unum);
}
if (pointer.list.val == "team")
{
string team = pointer.list.next.val;
this.worldModel.setTeamName(team);
}
}
pointer = pointer.next;
}
}
private Point parsePoint(SexpT sExpression)
{
float x = 0, y = 0, z = 0;
x = (float)Convert.ToInt32(sExpression.val);
y = (float)Convert.ToInt32(sExpression.next.val);
z = (float)Convert.ToInt32(sExpression.next.next.val);
return(new Point(x, y, z));
}
private void parseVision(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST && pointer.list.val != null)
{
if (pointer.list.val == "G1L")
{
this.parseGoal(pointer);
}
if (pointer.list.val == "G2L")
{
this.parseGoal(pointer);
}
if (pointer.list.val == "G1R")
{
this.parseGoal(pointer);
}
if (pointer.list.val == "G2R")
{
this.parseGoal(pointer);
}
if (pointer.list.val == "F1L")
{
this.parseFlag(pointer);
}
if (pointer.list.val == "F2L")
{
this.parseFlag(pointer);
}
if (pointer.list.val == "F1R")
{
this.parseFlag(pointer);
}
if (pointer.list.val == "F2R")
{
this.parseFlag(pointer);
}
if (pointer.list.val == "B")
{
this.parseBall(pointer);
}
}
pointer = pointer.next;
}
}
private void parseSexp(SexpT sExpression)
{
string value;
if (sExpression.ty == EltT.SEXP_LIST)
{
if (sExpression.list.ty == EltT.SEXP_VALUE)
{
value = sExpression.list.val;
}
else
{
Console.WriteLine("[!]INFO: \tMessageParser.parseSexp(SexpT): sExpression.list.ty != EltT.SEXP_VALUE.");
return;
}
}
else
{
Console.WriteLine("[!]INFO: \tMessageParser.parseSexp(SexpT): sExpression.ty != EltT.SEXP_LIST.");
return;
}
if (value == "time")
{
this.parseTime(sExpression);
}
else if (value == "GS")
{
this.parseGameState(sExpression);
}
else if (value == "GYR")
{
this.parseGyro(sExpression);
}
else if (value == "HJ")
{
this.parseHingeJoint(sExpression);
}
else if (value == "FRP")
{
this.parseFRP(sExpression);
}
else if (value == "See")
{
this.parseVision(sExpression);
}
}
private void parseFRP(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
string name = "";
float cx = 0, cy = 0, cz = 0;
float fx = 0, fy = 0, fz = 0;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
if (pointer.list.val == "n")
{
name = pointer.list.next.val;
}
if (pointer.list.val == "c")
{
cx = (float)Convert.ToInt32(pointer.list.next.val);
cy = (float)Convert.ToInt32(pointer.list.next.next.val);
cz = (float)Convert.ToInt32(pointer.list.next.next.next.val);
}
if (pointer.list.val == "f")
{
fx = Convert.ToInt32(pointer.list.next.val);
fy = Convert.ToInt32(pointer.list.next.next.val);
fz = Convert.ToInt32(pointer.list.next.next.next.val);
}
}
pointer = pointer.next;
}
if (name == "lf")
{
this.worldModel.setFRPCenterL(new Point(cx, cy, cz));
this.worldModel.setFRPForceL(new Point(cx, cy, cz));
}
else
{
this.worldModel.setFRPCenterR(new Point(cx, cy, cz));
this.worldModel.setFRPForceR(new Point(fx, fy, fz));
}
}
private void parseTime(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
float time = 0;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
if (pointer.list.val == "now")
{
time = (float)Convert.ToInt32(pointer.list.next.val);
}
}
pointer = pointer.next;
}
this.worldModel.setTime(time);
}
private Point parsePolarCoordinates(SexpT sExpression)
{
// Polar coordinates are given as a list
if (sExpression.ty != EltT.SEXP_LIST)
{
Console.WriteLine("[-]ERROR: \tMessageParser.parsePolarCoordinates(SexpT): Parsing polar coordinates: s-expression is not a list. Returning (0,0,0).");
return(new Point(0, 0, 0));
}
// The head of that list must be "pol"
if (sExpression.list.val == "pol")
{
Console.WriteLine(String.Format("[-]ERROR: \tMessageParser.parsePolarCoordinates(SexpT): Parsing polar coordinates: \"pol\" " +
"identifier expected. Found {0}. Returning (0,0,0).", sExpression.list.val));
return(new Point(0, 0, 0));
}
return(parsePoint(sExpression.list.next));
}
public void parseMessage(string message)
{
SexpT sExpression = new SexpT();
string sexpMessage = String.Format("(msg {0})", message);
sExpression.val = sexpMessage;
SexpT pointer = sExpression.list.next;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
this.parseSexp(pointer);
}
pointer = pointer.next;
}
sExpression = null;
}
private void parseGoal(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
string name = sExpression.list.val;
float x = 0, y = 0, z = 0;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
if (pointer.list.val == "pol")
{
x = (float)Convert.ToInt32(pointer.list.next.val);
y = (float)Convert.ToInt32(pointer.list.next.next.val);
z = (float)Convert.ToInt32(pointer.list.next.next.next.val);
}
}
pointer = pointer.next;
}
new Point(x, y, z);
}
private void parseHingeJoint(SexpT sExpression)
{
SexpT pointer = sExpression.list.next;
string name = "";
float angle = 0;
while (pointer != null)
{
if (pointer.ty == EltT.SEXP_LIST)
{
if (pointer.list.val == "n")
{
name = pointer.list.next.val;
}
if (pointer.list.val == "ax")
{
angle = (float)Convert.ToInt32(pointer.list.next.val);
}
}
pointer = pointer.next;
}
HingeJoint hJoint = new HingeJoint();
hJoint.setAxis(angle);
if (name == "hj1")
{
this.worldModel.setHingeJoint(hJoint, 0);
}
else if (name == "hj2")
{
this.worldModel.setHingeJoint(hJoint, 1);
}
else if (name == "raj1")
{
this.worldModel.setHingeJoint(hJoint, 2);
}
else if (name == "raj2")
{
this.worldModel.setHingeJoint(hJoint, 3);
}
else if (name == "raj3")
{
this.worldModel.setHingeJoint(hJoint, 4);
}
else if (name == "raj4")
{
this.worldModel.setHingeJoint(hJoint, 5);
}
else if (name == "laj1")
{
this.worldModel.setHingeJoint(hJoint, 6);
}
else if (name == "laj2")
{
this.worldModel.setHingeJoint(hJoint, 7);
}
else if (name == "laj3")
{
this.worldModel.setHingeJoint(hJoint, 8);
}
else if (name == "laj4")
{
this.worldModel.setHingeJoint(hJoint, 9);
}
else if (name == "rlj1")
{
this.worldModel.setHingeJoint(hJoint, 10);
}
else if (name == "rlj2")
{
this.worldModel.setHingeJoint(hJoint, 11);
}
else if (name == "rlj3")
{
this.worldModel.setHingeJoint(hJoint, 12);
}
else if (name == "rlj4")
{
this.worldModel.setHingeJoint(hJoint, 13);
}
else if (name == "rlj5")
{
this.worldModel.setHingeJoint(hJoint, 14);
}
else if (name == "rlj6")
{
this.worldModel.setHingeJoint(hJoint, 15);
}
else if (name == "llj1")
{
this.worldModel.setHingeJoint(hJoint, 16);
}
else if (name == "llj2")
{
this.worldModel.setHingeJoint(hJoint, 17);
}
else if (name == "llj3")
{
this.worldModel.setHingeJoint(hJoint, 18);
}
else if (name == "llj4")
{
this.worldModel.setHingeJoint(hJoint, 19);
}
else if (name == "llj5")
{
this.worldModel.setHingeJoint(hJoint, 20);
}
else if (name == "llj6")
{
this.worldModel.setHingeJoint(hJoint, 21);
}
}
