The RoboCup Soccer Simulator documentation
Soccer Server 足球服务器（上）
导读
在实际运用中建议直接跳至足球服务器（中）开始看，协议用于深挖底层。
Objects 物体
| 物体名称 |
|---|
| 物体参数 |
Protocols 协议
球员命令协议
连接
| From player to server | From server to client | |
|---|---|---|
| (init TeamName [(version VerNum )] [(goalie)]) TeamName ::= [-_a-zA-Z0-9]+ VerNum ::= the protocol version (e.g. 15) |
(init Side Unum PlayMode) Side ::= l \ |
rUnum ::= 1~11 PlayMode ::= one of play modes (error no_more_team_or_player) (error reconnect) |
| (reconnect …) TeamName := |
||
| (bye) |
如果您的客户端使用 >= 7.0 的协议版本成功连接或重新连接，服务器将另外发送以下消息： server_param（包含服务器参数的消息），player_param（包含播放器参数的消息）和 player_type（包含播放器类型的消息）。最后，玩家将收到有关已更改玩家的消息（请参阅 Sec. Heterogeneous Players）。
初始化设置
| From player to server | From server to player | |||||||
|---|---|---|---|---|---|---|---|---|
| (compression Level) Level ::= zlib compression level [0,9]or negative number |
(ok compression Level) (warning compression_unsupported) |
|||||||
| (clang (ver MinVer MaxVer)) MinVer ::= integer MaxVer ::= integer |
(ok clang (ver MinVer MaxVer)) | |||||||
| (ear (OnOff [Team] [Type])) OnOff ::= on \ |
offTeam ::= our \ |
opp \ |
left \ |
right \ |
l \ |
r \ |
TeamName | no response if succeeded (error no team with name TeamName) |
| (synch_see) | (ok synch_see) |
球员控制
| From player to server | Only once per cycle | |||||||
|---|---|---|---|---|---|---|---|---|
| (turn Moment) Moment ::= minmoment ~ maxmoment degrees |
Yes | |||||||
| (dash Power [Direction]) Power ::= min_dash_power ~ max_dash_power Direction ::= min_dash_angle ~ max_dash_angle degrees Note: backward dash (negative power) consumes double stamina. |
Yes | |||||||
| (kick Power Direction) Power ::= minpower ~ maxpower Direction ::= minmoment ~ maxmoment degrees |
Yes | |||||||
| (tackle PowerOrAngle [Foul]) PowerOrAngle ::= minmoment ~ maxmoment degrees : if client version >= 12 PowerOrAngle ::= -max_back_tackle_power ~ max_tackle_power : if client version < 12 Foul ::= true |
false |
on |
off |
Yes | ||||
| (catch Direction)Direction ::= minmoment ~ maxmoment degrees | Yes | |||||||
| (move X Y)X ::= real numberY ::= real number | Yes | |||||||
| (change_view Width Quality) Width ::= narrow |
normal |
wideQuality ::= high |
low |
No | ||||
| (say “Message”) Message ::= [-0-9a-zA-Z ().+/?<>_]\ |
No | |||||||
| (pointto Distance Direction) (pointto Off) Distance ::= real number Direction ::= real number degree Off ::= false |
off |
No | ||||||
| (attentionto Team Unum) (attentionto Off) Team ::= our |
opp |
left |
right |
l |
r |
TeamName Unum ::= integerOff ::= false |
off |
No |
| (done) | Yes |
Others
| From player to server | From server to player |
|---|---|
| (sense_body) | sense_body message |
| (score) | (score Time Our Opp) Time ::= simulation cycle of rcssserver Our ::= sender’s team score Opp ::= opponent team score |
球员感官协议
From Server to player
(hear Time Sender “Message”)
(hear Time OnlineCoach CoachLanguageMessage)
Time ::= simulation cycle of rcssserver
Sender ::= online_coach_left | online_coach_right | coach | referee | self | Direction
Direction ::= -180 ~ 180 degrees
Message ::= string
OnlineCoach ::= online_coach_left | online_coach_right
CoachLanguageMessage ::= see the standard coach language section
(see Time ObjInfo+) Time ::= simulation cycle of rcssserver ObjInfo ::= (ObjName Distance Direction DistChange DirChange BodyFacingDir HeadFacingDir [PointDir] [t] [k]]) | (ObjName Distance Direction DistChange DirChange [PointDir] [{t|k}]) | (ObjName Distance Direction [t] [k]) | (ObjName Diretion) ObjName ::= (p [”TeamName” [UniformNumber [goalie]]]) | (b) | (g {l|r}) | (f c) | (f {l|c|r} {t|b}) | (f p {l|r} {t|c|b}) | (f g {l|r} {t|b}) | (f {l|r|t|b} 0) | (f {t|b} {l|r} {10|20|30|40|50}) | (f {l|r} {t|b} {10|20|30}) | (l {l|r|t|b} 0) | (P)| (B)| (G)| (F) Distance ::= positive real number Direction ::= -180 ~ 180 degrees DistChange ::= real number DirChange ::= real number BodyFacingDir ::= -180 ~ 180 degrees HeadFacingDir ::= -180 ~ 180 degrees PointDir ::= -180 ~ 180 degrees TeamName ::= string UniformNumber ::= 1 ~ 11
(sense_body Time (view_mode {high|low} {narrow|normal|wide}) (stamina Stamina Effort Capacity) (speed AmountOfSpeed DirectionOfSpeed) (head_angle HeadAngle) (kick KickCount) (dash DashCount) (turn TurnCount) (say SayCount) (turn_neck TurnNeckCount) (catch CatchCount) (move MoveCount) (change_view ChangeViewCount) (arm (movable MovableCycles) (expires ExpireCycles) (count PointtoCount)) (focus (target {none|{l|r} Unum}) (count AttentiontoCount)) (tackle (expires ExpireCycles) (count TackleCount)) (collision {none|[(ball)] [(player)] [(post)]}) (foul (charged FoulCycles) (card {red|yellow|none})))
(fullstate Time (pmode {goaliecatch_ball{l|r}|PlayMode}) (vmode {high|low} {narrow|normal|wide}) (count KickCount DashCount TurnCount CatchCount MoveCount TurnNeckCount ChangeViewCount SayCount) (arm (movable MovableCycles) (expires ExpireCycles)) (target Distance Direction) (count PointtoCount) (score Time Our Opp) ((b) X Y VelX VelY) Players+) Players ::= ((p {l|r} UniformNumber [g] PlayerType) X Y VelX VelY BodyDir NeckDir [PointtoDist PointtoDir] (stamina Stamina Effort Recovery Capacity) [k|t|f] [r|y]))