sensehandler.h

uva trilearn的robocup源程序

/*
Copyright (c) 2000-2002, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without 
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this 
list of conditions and the following disclaimer. 

2. Redistributions in binary form must reproduce the above copyright notice, 
this list of conditions and the following disclaimer in the documentation 
and/or other materials provided with the distribution. 

3. Neither the name of the University of Amsterdam nor the names of its 
contributors may be used to endorse or promote products derived from this 
software without specific prior written permission. 

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE 
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*! \file SenseHandler.h
<pre>
<b>File:</b>          SenseHandler.h
<b>Project:</b>       Robocup Soccer Simulation Team: UvA Trilearn
<b>Authors:</b>       Jelle Kok
<b>Created:</b>       28/11/2000
<b>Last Revision:</b> $ID$
<b>Contents:</b>      This file contains the class SenseHandler that is used
               to process the information coming from the server.
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
28/11/2000      Jelle Kok       Initial version created
</pre>
*/

#ifndef _SENSEHANDLER_
#define _SENSEHANDLER_

#include "Connection.h"
#include "WorldModel.h"

extern Logger Log; /*!< This is a reference to the Logger to write log info to*/

void* sense_callback( void *v );

/******************************************************************************/
/********************** CLASS SENSEHANDLER ************************************/
/******************************************************************************/

/*! Class SenseHandler receives input from a (Robocup Simulation) server
(through an instance of Connection). The class contains methods to parse the
incoming messages and sends these to the WorldModel accordingly. After this
class is instantiated, a specific thread must call the function sense_callback.
This thread will then automatically call handleMessagesFromServer() which loops
forever. In this way all messages are received and parsed (since the
receiveMessage from the Connection blocks till a message arrives). Other threads
can think about the next action while the SenseHandler sends the new information
to the WorldModel. */
class SenseHandler {
  WorldModel     *WM;        /*!< Worldmodel containing all data of the match */
  ServerSettings *SS;        /*!< ServerSettings with all server settings     */
  PlayerSettings *PS;        /*!< PlayerSettings with all client settings     */
  Connection* connection;    /*!< Connection with server to receive messages  */
  int         iTimeSignal;   /*!< Wait time (microsec) before sense calls act */
  int         iTriCounter;   /*!< Used to indicate when see message will arive*/
  int         m_iSeeCounter; /*!<! Used to count number of see msg in 1 cycle */
  int         iSimStep;      /*!< Length (microsec) of server cycles          */
  struct      itimerval itv; /*!< timer used to set alarm to send action      */

public:
  SenseHandler( Connection* c, WorldModel* wm, ServerSettings *ss,
                PlayerSettings *ps );

  // start the loop to handle the messages from the server
  void    handleMessagesFromServer      (              );

  // methods to determine when the next action should be sent to the server.
  void    setTimeSignal                 (                            );
                
  // method to analyze incoming messages
  bool    analyzeMessage                ( char *strMsg               );
  bool    analyzeSeeGlobalMessage       ( char *strMsg               );
  bool    analyzeSeeMessage             ( char *strMsg               );
  bool    analyzeSenseMessage           ( char *strMsg               );
  bool    analyzeInitMessage            ( char *strMsg               );
  bool    analyzeHearMessage            ( char *strMsg               );
  bool    analyzePlayerMessage          ( char *strMsg               );  
  bool    analyzeChangePlayerTypeMessage( char *strMsg               );
  bool    analyzeServerParamMessage     ( char *strMsg               );
  bool    analyzeCheckBall              ( char *strMsg               );
  bool    analyzePlayerTypeMessage      ( char *strMsg               );
  bool    analyzePlayerParamMessage     ( char *strMsg               );
  
  // utility functions
  bool    readServerParam               ( char *strParam, 
                                          char *strMsg               );
};

#endif