mediator.h

RoboCup仿真组世界冠军源代码

/*
    Copyright (C) 2001  Tsinghuaeolus

    Authors : ChenJiang, YaoJinyi, CaiYunpeng, Lishi

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

	If you make any changes or have any comments we would appreciate a 
	message to [e-mail].
*/

#ifndef _mediator
#define _mediator

#include "Geometry.h"
#include "Command.h"
#include "bpn.h"
class Mediator;

class PrioredCommand : public Command{
private:
	float priority;
	ActionType actiontype;
public:
	PrioredCommand();
	PrioredCommand(Command& cmd, ActionType actiontype, float priority){ *this = cmd; this->actiontype = actiontype; this->priority = priority;}
	void Reset(){Command::Reset(); actiontype = Action_none; priority = 0.0f;}
	void operator =(const Command& cmd){angle = cmd.angle; x = cmd.x; y = cmd.y; 
	time = cmd.time; type = cmd.type; power = cmd.power;}
	bool operator >(const PrioredCommand& pcmd){ return priority > pcmd.priority;}
	bool operator ==(const PrioredCommand& pcmd){ return priority == pcmd.priority;}
	bool operator <(const PrioredCommand& pcmd){ return priority < pcmd.priority;}
	friend class Mediator;
	float GetPriority(){return priority;}
	ActionType GetActionType(){return actiontype;}
	friend class Mediator;
};


class VisualRequest{
private:
	float priority;
	AngleDeg angle;
	AngleDeg angle_inf;
	VIEWWIDTH view_width;
	bool valid;
public:
	VisualRequest(float priority = NoPriority, AngleDeg angle =0.0f);
	bool operator >(VisualRequest& vreq){ return  angle < vreq.angle;}
	bool operator ==(VisualRequest& vreq){ return angle == vreq.angle;}
	bool operator < (VisualRequest& vreq){ return angle > vreq.angle;}
	AngleDeg RequestedAngle(){return angle;};
	AngleDeg RequestedAngle_();
	float RequestedPriority();
	friend class Mediator;
};

/*****************	Mediator	*****************************/
class Mediator{
private:
/****	Priored Queue	**************/	
	Ordered_Soft_Queue<VisualRequest, CP_max_visualrequests> vr_queue;
	Ordered_Soft_Queue<PrioredCommand, CP_max_actions> ac_queue;

/*  visual request */
	VisualRequest visualrequests[CP_max_visualrequests];
	int totalvisualrequests;
	TimedData<VIEWWIDTH> designated_viewwidth;
/*********************************/
	KT_Res pass_res;
/*********************************/
	ActionType lastactiontype;
	CMDType lastcmdtype;
	void feedback(const PrioredCommand& bestaction , int vr_idx);
	float priority_mapping(ActionType actiontype, float priority);
public:
	Mediator();

	void ResetBuffer();
	bool enroll(PrioredCommand& pcmd);
	bool enroll(Command& command, ActionType actiontype, float priority);
	bool enroll(float priority, AngleDeg angle);
	void SetViewWidth(VIEWWIDTH view_width);
	void DisableViewWidth();
	void SetVisualRequests(VisualRequest* requests, int& totalrequests, VIEWWIDTH view_width, int max_requests = CP_max_visualrequests);
	void SetVisualRequests();
	void mediation();
	ActionType LastActionType();
	CMDType LastCmdType();
	
	void Getbestaction(PrioredCommand& bestaction);

/***	For Visual Decision and Audio Decision	***/
	bool IsLastCycleIntercept;//It is last cycle of interception, please change view
	TimedData<bool> PassOut;
	
	friend class VisualSystem; 
};

#endif