Merge pull request #115 from rcsoccersim/develop

Official Release 18.0.0

.circleci/config.yml

@@ -3,7 +3,7 @@ version: 2
 defaults: &defaults
   working_directory: /home/circleci/rcssserver
   docker:
-    - image: ubuntu:xenial
+    - image: ubuntu-2004
 
 jobs:
   build:
@@ -16,10 +16,10 @@ jobs:
           command: apt-get update
       - run:
           name: Install dependencies
-          command: apt-get install g++ build-essential libboost-all-dev bison flex -y
+          command: apt-get install build-essential flex bison libboost-all-dev -y
       - run:
           name: Install autotools libraries
-          command: apt-get install autoconf -y
+          command: apt-get install autoconf automake libtool -y
       - run:
           name: Generate configure file
           command: |

CMakeLists.txt

@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-project(RCSSServer VERSION 17.0.1)
+project(RCSSServer VERSION 18.0.0)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 if(NOT CMAKE_BUILD_TYPE)
@@ -18,7 +18,8 @@ if(ZLIB_FOUND)
 endif()
 find_package(BISON REQUIRED)
 find_package(FLEX REQUIRED)
-find_package(Boost COMPONENTS system filesystem REQUIRED)
+#find_package(Boost COMPONENTS system filesystem REQUIRED)
+find_package(Boost COMPONENTS system REQUIRED)
 
 include(GNUInstallDirs)
 include(CheckIncludeFileCXX)

ChangeLog

@@ -1,3 +1,13 @@
+2023-03-07  Hidehisa Akiyama  <[email protected]>
+
+	* CMakeLists.txt:
+	* NEWS:
+	* configure.ac:
+	- update a major version number. Official release 18.0.0
+	- update to C++17.
+	- introduce a new observation model.
+	- change the version number of JSON-based monitor protocol.
+
 2022-04-03  Hidehisa Akiyama  <[email protected]>
 
 	* CMakeLists.txt:

NEWS

@@ -1,3 +1,46 @@
+[18.0.0]
+  * Update to C++17.
+
+  * New command:
+    - "(change_focus DIST_MOMENT DIR_MOMENT)"
+      All version players can use this command. If the command is
+      accepted, that player's focus point is moved according to the
+      given parameters. Details are described below.
+
+  * Change the version number of JSON-based monitor protocol to -1.
+    And, change the header line of JSON-based game log to "JSON". If
+    the value of server::game_log_version is -1, the content of the
+    recorded game log is a JSON array except for the header line.
+
+  * Introduce a new observation model.
+
+    When the players connect with version 18 or higher, the vision
+    sensor automatically enters the synchronous mode. In addition,
+    players with version 18 or higher receive a see message every
+    cycle, regardless of their view width. Instead, the noise in the
+    observed information varies with the view width. When the
+    observation information is serialized, the quantize step parameter
+    is multiplied by the noise term parameter, which depends on the
+    view width.
+
+    The concept of focus points is introduced. The focus point
+    represents a position inside a player's view angle, and can be up
+    to 40.0 meters away from the player's position. The focus point
+    affects the visual sensor noise model, with the noise of observed
+    objects increasing as the distance  between the focus point and
+    the object increases.
+
+    The initial position of the focus point is the player's position,
+    and if a player does not change the focus point position, the
+    server visual noise model behaves as in server v17. However, a
+    player can change the position of the focus point by sending a
+    **change_focus** command. This command takes two parameters,
+    *dist_moment* and *dir_moment*, and changes the position of the
+    focus point relative to the player's neck angle.
+
+    See the user manual for more information on the new observation
+    model.
+
 [17.0.1]
   * Fix build problems caused by missing headers.
 

configure.ac

@@ -1,9 +1,9 @@
 #                                               -*- Autoconf -*-
 # Process this file with autoconf to produce a configure script.
 
-AC_PREREQ(2.61)
+AC_PREREQ([2.69])
 LT_PREREQ([2.2])
-AC_INIT([RCSSServer],[17.0.1],[https://github.com/rcsoccersim/],[rcssserver])
+AC_INIT([RCSSServer],[18.0.0],[https://github.com/rcsoccersim/],[rcssserver])
 
 #AM_INIT_AUTOMAKE([gnu 1.7.2 check-news dist-bzip2 dist-zip])
 AM_INIT_AUTOMAKE([gnu 1.7.2 check-news foreign])
@@ -70,15 +70,12 @@ AC_STRUCT_TM
 AC_TYPE_UINT16_T
 AC_TYPE_UINT32_T
 AC_TYPE_UINT8_T
+AC_CHECK_TYPES([ptrdiff_t])
 
 AC_CHECK_TYPES([socklen_t], [], [], [
 #include <sys/types.h>
 #include <sys/socket.h>
 ])
-AC_CHECK_TYPES([size_t], [], [], [
-#include <sys/types.h>
-#include <sys/socket.h>
-])
 
 
 ##################################################
@@ -108,7 +105,7 @@ AC_CHECK_FUNCS([memset], [], [
   exit 1
 ])
 AC_CHECK_FUNCS([floor gethostbyname gettimeofday inet_ntoa memset mkdir pow rint])
-AC_CHECK_FUNCS([socket sqrt strdup strerror])
+AC_CHECK_FUNCS([select socket sqrt strdup strerror])
 
 ##################################################
 # check flex
@@ -191,15 +188,14 @@ AC_SUBST(LIBTOOL_DEPS)
 # check C++
 ##################################################
 
-AX_CXX_COMPILE_STDCXX_14(noext)
+AX_CXX_COMPILE_STDCXX_17(noext)
 
 ##################################################
 # check boost
 ##################################################
 
 AX_BOOST_BASE([1.32.0])
 AX_BOOST_SYSTEM
-AX_BOOST_FILESYSTEM
 CPPFLAGS="$CPPFLAGS $BOOST_CPPFLAGS"
 LDFLAGS="$LDFLAGS $BOOST_LDFLAGS"
 #OLDLIBS="$LIBS"

m4/ax_boost_base.m4

@@ -11,9 +11,9 @@
 #   Test for the Boost C++ libraries of a particular version (or newer)
 #
 #   If no path to the installed boost library is given the macro searchs
-#   under /usr, /usr/local, /opt and /opt/local and evaluates the
-#   $BOOST_ROOT environment variable. Further documentation is available at
-#   <http://randspringer.de/boost/index.html>.
+#   under /usr, /usr/local, /opt, /opt/local and /opt/homebrew and evaluates
+#   the $BOOST_ROOT environment variable. Further documentation is available
+#   at <http://randspringer.de/boost/index.html>.
 #
 #   This macro calls:
 #
@@ -33,7 +33,7 @@
 #   and this notice are preserved. This file is offered as-is, without any
 #   warranty.
 
-#serial 49
+#serial 52
 
 # example boost program (need to pass version)
 m4_define([_AX_BOOST_BASE_PROGRAM],
@@ -114,7 +114,7 @@ AC_DEFUN([_AX_BOOST_BASE_RUNDETECT],[
     AS_CASE([${host_cpu}],
       [x86_64],[libsubdirs="lib64 libx32 lib lib64"],
       [mips*64*],[libsubdirs="lib64 lib32 lib lib64"],
-      [ppc64|powerpc64|s390x|sparc64|aarch64|ppc64le|powerpc64le|riscv64|e2k],[libsubdirs="lib64 lib lib64"],
+      [ppc64|powerpc64|s390x|sparc64|aarch64|ppc64le|powerpc64le|riscv64|e2k|loongarch64],[libsubdirs="lib64 lib lib64"],
       [libsubdirs="lib"]
     )
 
@@ -128,7 +128,7 @@ AC_DEFUN([_AX_BOOST_BASE_RUNDETECT],[
     )
 
     dnl first we check the system location for boost libraries
-    dnl this location ist chosen if boost libraries are installed with the --layout=system option
+    dnl this location is chosen if boost libraries are installed with the --layout=system option
     dnl or if you install boost with RPM
     AS_IF([test "x$_AX_BOOST_BASE_boost_path" != "x"],[
         AC_MSG_CHECKING([for boostlib >= $1 ($WANT_BOOST_VERSION) includes in "$_AX_BOOST_BASE_boost_path/include"])
@@ -151,7 +151,7 @@ AC_DEFUN([_AX_BOOST_BASE_RUNDETECT],[
         else
             search_libsubdirs="$multiarch_libsubdir $libsubdirs"
         fi
-        for _AX_BOOST_BASE_boost_path_tmp in /usr /usr/local /opt /opt/local ; do
+        for _AX_BOOST_BASE_boost_path_tmp in /usr /usr/local /opt /opt/local /opt/homebrew ; do
             if test -d "$_AX_BOOST_BASE_boost_path_tmp/include/boost" && test -r "$_AX_BOOST_BASE_boost_path_tmp/include/boost" ; then
                 for libsubdir in $search_libsubdirs ; do
                     if ls "$_AX_BOOST_BASE_boost_path_tmp/$libsubdir/libboost_"* >/dev/null 2>&1 ; then break; fi
@@ -227,7 +227,7 @@ AC_DEFUN([_AX_BOOST_BASE_RUNDETECT],[
             fi
         else
             if test "x$cross_compiling" != "xyes" ; then
-                for _AX_BOOST_BASE_boost_path in /usr /usr/local /opt /opt/local ; do
+                for _AX_BOOST_BASE_boost_path in /usr /usr/local /opt /opt/local /opt/homebrew ; do
                     if test -d "$_AX_BOOST_BASE_boost_path" && test -r "$_AX_BOOST_BASE_boost_path" ; then
                         for i in `ls -d $_AX_BOOST_BASE_boost_path/include/boost-* 2>/dev/null`; do
                             _version_tmp=`echo $i | sed "s#$_AX_BOOST_BASE_boost_path##" | sed 's/\/include\/boost-//' | sed 's/_/./'`