command.h

mersad源码 03年robocup 季军 可以研究一下大家

/*
 *  Copyright 2002-2004, Mersad Team, Allame Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program 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 Library General Public License for more details.
 *
 *  Created by: Mohsen Izadi
 *  Modified by: Ahmad Boorghany, Mohammad Salehe
 *  Released on Friday 1 April 2005 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __COMMAND_H
#define __COMMAND_H


#include <string>
#include <Types.h>


#ifndef NULL
#	define NULL 0
#endif // NULL


enum CommandType
{
	CT_ATTENTION,
	CT_BYE,
	CT_CATCH,
	CT_CHANGE_VIEW,
	CT_DASH,
	CT_DONE,
	CT_EMPTY,
	CT_INIT,
	CT_KICK,
	CT_MOVE,
	CT_SAY,
	CT_TACKLE,
	CT_TURN,
	CT_TURN_NECK,
	CT_EYE,
	CT_FREEFORM,
	CT_CHANGE_PLAYER
};

class Command
{
public:
	Command();
	virtual ~Command();

	virtual std::string toString() const = 0;
};


class AttentionToCommand: public Command
{
protected:
	TeamId teamId;
	int uniformNum;
	
public:
	AttentionToCommand(TeamId teamId, int uniformNum);
	virtual ~AttentionToCommand();

	virtual std::string toString() const;

	// Getting functions
	TeamId getTeamId() const;
	int getUniformNum() const;

};

class ByeCommand: public Command
{
public:
	ByeCommand();
	virtual ~ByeCommand();

	virtual std::string toString() const;
};

class CatchCommand: public Command
{
protected:
	float direction;
	
public:
	CatchCommand(float direction);
	virtual ~CatchCommand();

	virtual std::string toString() const;

	// Getting functions
	float getDirection() const;

};

class ChangeViewCommand: public Command
{
protected:
	ViewModeQuality quality;
	ViewModeWidth width;
	
public:
	ChangeViewCommand(ViewModeQuality quality, ViewModeWidth width);
	virtual ~ChangeViewCommand();

	virtual std::string toString() const;

	// Getting functions
	ViewModeQuality getQuality() const;
	ViewModeWidth getWidth() const;

};

class DashCommand: public Command
{
protected:
	float power;
	
public:
	DashCommand(float power);
	virtual ~DashCommand();

	virtual std::string toString() const;

	// Getting functions
	float getPower() const;

	// Setting functions
	void setPower(float powerArg);
};

class DoneCommand: public Command
{
public:
	DoneCommand();
	virtual ~DoneCommand();

	virtual std::string toString() const;
};

class EmptyCommand: public Command
{
public:
	EmptyCommand();
	virtual ~EmptyCommand();

	virtual std::string toString() const;
};

class InitCommand: public Command
{
protected:
	std::string teamName;
	std::string version;
	bool isGoalie;

public:
	InitCommand(const std::string &teamName, const std::string &version,
			bool isGoalie);
	virtual ~InitCommand();

	virtual std::string toString() const;

	// Getting functions
	const std::string &getTeamName() const;
	const std::string &getVersion() const;
	bool getIsGoalie() const;

};

class KickCommand: public Command
{
protected:
	float power;
	float direction;
	
public:
	KickCommand(float power, float direction);
	virtual ~KickCommand();

	virtual std::string toString() const;

	// Getting functions
	float getPower() const;
	float getDirection() const;

	// Setting functions
	void setPower(float powerArg);
	void setDirection(float directionArg);
};

class MoveCommand: public Command
{
protected:
	float x;
	float y;
	
public:
	MoveCommand(Point point);
	MoveCommand(float x, float y);
	virtual ~MoveCommand();
	
	virtual std::string toString() const;

	// Getting functions
	float getX() const;
	float getY() const;

};

class PointToCommand: public Command
{
protected:
	bool status;
	float dist;
	float dir;
	
public:
	PointToCommand(bool status = false);
	PointToCommand(float dist, float dir);
	virtual ~PointToCommand();
	
	virtual std::string toString() const;

	// Getting functions
	float getDist() const;
	float getDir() const;

};

class SayCommand: public Command
{
protected:
	std::string message;
	
public:
	SayCommand(const std::string &message);
	virtual ~SayCommand();

	virtual std::string toString() const;

	// Getting functions
	const std::string &getMessage() const;

};

class TackleCommand: public Command
{
protected:
	float power;
	
public:
	TackleCommand(float power);
	virtual ~TackleCommand();

	virtual std::string toString() const;

	// Getting functions
	float getPower() const;

};

class TurnCommand: public Command
{
protected:
	float direction;
	
public:
	TurnCommand(float direction);
	virtual ~TurnCommand();

	virtual std::string toString() const;

	// Getting functions
	float getDirection() const;

};

class TurnNeckCommand: public Command
{
protected:
	float direction;
	
public:
	TurnNeckCommand(float direction);
	virtual ~TurnNeckCommand();

	virtual std::string toString() const;

	// Getting functions
	float getDirection() const;

};

class EyeCommand: public Command
{
protected:
	bool on;	

public:
	EyeCommand(bool on);
	virtual ~EyeCommand();

	virtual std::string toString() const;

	// Getting functions
	bool isOn() const;

};

class ChangePlayerCommand: public Command
{
protected:
	int uniformNum;
	int playerType;

public:
	ChangePlayerCommand(int uniformNum, int playerType);
	virtual ~ChangePlayerCommand();

	virtual std::string toString() const;

	// Getting functions
	int getUniformNum() const;
	int getPlayerType() const;
};

class FreeFormCommand: public Command
{
protected:
	std::string message;
	
public:
	FreeFormCommand(const std::string &message);
	virtual ~FreeFormCommand();

	virtual std::string toString() const;

	// Getting functions
	const std::string &getMessage() const;

};

class CLangVersionCommand: public Command
{
protected:
	int minVer, maxVer;
	
public:
	CLangVersionCommand(int minVer, int maxVer);
	virtual ~CLangVersionCommand();

	virtual std::string toString() const;

	// Getting functions
	int getMinVer() const;
	int getMaxVer() const;

};

#endif // __COMMAND_H