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¤ Wednesday, January 8, 2003
Introduction
CRaPI - Correct, Robust and Perfect API for simulated Robocup -
is a framework for development of teams in the Robocup simulated
league. The framework is event driven, not bound to any specific
agent architecture and works with soccer server 9.x. The programming
language is C#.
Set up
1. Download the CRaPI package from
our download section.
2. Unzip the CRaPI package to optional location, preferably to [<your
project>\].
3. Start up your robocup project or create a new C# project.
4. Add crapi.dll as a reference to your project.
CRaPI is ready for use.
How to use CRaPI
For more examples on how to use CRaPI, download the Tiro player
from our download section.
Players
A requirement in Robocup is that all players in a team are autonomous,
i.e. no central control is allowed. Players are only allowed to
coordinate with visual and audial means, via the server. The first
thing your have to do when creating a robocup player with CRaPI
is therefore to create a new Thread for each Player in CRaPI. Player
is the main class of the CRaPI, and acts as the developers access
point to the api. The following code is an example of how to create
a thread for a player;
mPlayerThread = new Thread(new ThreadStart(mPlayer.PlayGame));
Events
The architecture of CRaPI is event-driven. It is up to the developer
to select the events of interest to act on. The following code is
an example of how to register on an event;
mPlayer.AfterNewCycle += new TimeEventHandler(newCycle);
The following events in the Player class of CRaPI are available:
Event |
Description |
BeforeNewCycle |
Indicating that a new cycle is coming once the clock has
been syncronized |
AfterNewCycle |
Indicating that a new cycle has started |
BeforeWorldModelUpdate |
Indicating that the WorldModel is to be updated |
AfterWorldModelUpdate |
Indicating that the WorldModel is updated |
BeforeRefereeMessage |
Indicating that a RefereeMessage is to be handled |
AfterRefereeMessage |
Indicating that a RefereeMessage has been handled |
BeforeCoachMessage |
Indicating that a CoachMessage is to be handled |
AfterCoachMessage |
Indicating that a CoachMessage has been handled |
BeforePlayerMessage |
Indicating that a PlayerMessage is to be handled |
AfterPlayerMessage |
Indicating that a PlayerMessage has been handled |
Acting
Since the game is run in descreete cycles, the easiest way to act
is to listen to the AfterNewCycle event which is fired each cycle.
Acting is performed by placing Command objects in the CommandQueue
in Player. When satisfied with the Commands in the queue you call
the Send() method in Player to send the commands to the server,
preferably before a new cycle has started. In code this could look
like;
private void newCycle(object sender, TimeEventArgs
arg)
{
mPlayer.CommandQueue.Enqueue(aCommand);
mPlayer.Send();
}
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