[ALL] merge 4 pitch params into ini

Robocup-ssl-China · Apr 12, 2024 · f204974 · f204974
1 parent b681e9c
commit f204974
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Showing 6 changed files with 109 additions and 374 deletions.
diff --git a/Client/plugins/sim/configwidget.cpp b/Client/plugins/sim/configwidget.cpp
@@ -16,26 +16,26 @@ namespace{
 #define ADD_VALUE(parent,type,name,defaultvalue,namestring) \
     ppm->loadParam(v_##name,#parent"/"#name,defaultvalue);
 
-#define ADD_CLIENT_VALUE(parent, type, name, defaultvalue, namestring) \
-    zpm->loadParam(v_##name, #parent "/" #name, defaultvalue);
+#define ADD_CLIENT_VALUE(parent, type, name, defaultvalue, namestring, ratio) \
+    v_##name = zpm->value(#parent "/" #namestring, QVariant(ratio * defaultvalue)).to##type() / ratio;
 
 ConfigWidget::ConfigWidget()
 {
     ADD_VALUE(game_vars,Int,Robots_Count, 16, "Robots Count")
     ADD_VALUE(field_vars,Double,Field_Line_Width,0.020,"Line Thickness")
-    ADD_VALUE(field_vars,Double,Field_Length,9.000,"Length")
-    ADD_VALUE(field_vars,Double,Field_Width,6.000,"Width")
+    ADD_CLIENT_VALUE(field,Double,Field_Length,9.000,width, 1000.0)
+    ADD_CLIENT_VALUE(field,Double,Field_Width,6.000,height, 1000.0)
     ADD_VALUE(field_vars,Double,Field_Rad,0.500,"Radius")
     ADD_VALUE(field_vars,Double,Field_Free_Kick,0.700,"Free Kick Distanse From Defense Area")
-    ADD_VALUE(field_vars,Double,Field_Penalty_Width,2.0,"Penalty width")
-    ADD_VALUE(field_vars,Double,Field_Penalty_Depth,1.0,"Penalty depth")
+    ADD_CLIENT_VALUE(field,Double,Field_Penalty_Width,2.0,penaltyLength, 1000.0)
+    ADD_CLIENT_VALUE(field,Double,Field_Penalty_Depth,1.0,penaltyWidth, 1000.0)
     ADD_VALUE(field_vars,Double,Field_Penalty_Point,1.0,"Penalty point")
     ADD_VALUE(field_vars,Double,Field_Margin,0.4,"Margin")
     ADD_VALUE(field_vars,Double,Field_Referee_Margin,0.0,"Referee margin")
     ADD_VALUE(field_vars,Double,Wall_Thickness,0.050,"Wall thickness")
     ADD_VALUE(field_vars,Double,Goal_Thickness,0.020,"Goal thickness")
-    ADD_VALUE(field_vars,Double,Goal_Depth,0.200,"Goal depth")
-    ADD_VALUE(field_vars,Double,Goal_Width,1.000,"Goal width")
+    ADD_CLIENT_VALUE(field,Double,Goal_Depth,0.200,goalDepth, 1000.0)
+    ADD_CLIENT_VALUE(field,Double,Goal_Width,1.000,goalWidth, 1000.0)
     ADD_VALUE(field_vars,Double,Goal_Height,0.160,"Goal height")
     ADD_VALUE(field_vars,Double,overlap,0.20,"Camera Overlap")
 

diff --git a/Core/src/Strategy/skill/SmartGotoPosition.cpp b/Core/src/Strategy/skill/SmartGotoPosition.cpp
@@ -66,7 +66,6 @@ namespace{
     CGeoPoint lastFinalPoint[PARAM::Field::MAX_PLAYER];
     CGeoPoint veryStart[PARAM::Field::MAX_PLAYER];
     bool isExecuting[PARAM::Field::MAX_PLAYER];
-    const double Fake_PENALTY_AREA_R = 150; // added by ftq
     const double TEAMMATE_AVOID_DIST = PARAM::Vehicle::V2::PLAYER_SIZE + 40.0f; // 2014/03/13 修改，为了减少stop的时候卡住的概率 yys
     const double OPP_AVOID_DIST = PARAM::Vehicle::V2::PLAYER_SIZE + 55.0f;
     const double BALL_AVOID_DIST = PARAM::Field::BALL_SIZE + 50.0f;