fullstatesender.h

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                                fullstatesender.h 
                  Classes for sending sense fullstate messages
                             -------------------
    begin                : 22-AUG-2002
    copyright            : (C) 2002 by The RoboCup Soccer Simulator 
                           Maintenance Group.
    email                : [e-mail]
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU LGPL as published by the Free Software  *
 *   Foundation; either version 2 of the License, or (at your option) any  *
 *   later version.                                                        *
 *                                                                         *
 ***************************************************************************/


#ifndef RCSSFULLSTATESENDER_H
#define RCSSFULLSTATESENDER_H

#include <iostream>
#include <memory>
#include <map>
#include <rcssbase/lib/factory.hpp>

class Stadium;
class Player;

namespace rcss
{
    class SerializerPlayer;

/*!
//===================================================================
//
//  CLASS: FullstateSender
//
//  DESC: Base class for the full state protocol.
//
//===================================================================
*/

    class FullStateSender
    {
    private:
        std::ostream& M_transport;

    protected:
        std::ostream& 
        transport()
        { return M_transport; }

    public:
        typedef std::auto_ptr< FullStateSender > Ptr;

        FullStateSender( std::ostream& transport );
  
        virtual
        ~FullStateSender();

        virtual
        void
        sendFullState() = 0;
    };

/*!
//===================================================================
//
//  CLASS: FullStateObserver
//
//  DESC: Interface for an object that receives full state information.
//
//===================================================================
*/


    class FullStateObserver
    {
    private:
        FullStateSender* M_sender;
        bool M_owns_sender;

    public:
        FullStateObserver();
        FullStateObserver( FullStateSender& sender );
        FullStateObserver( std::auto_ptr< FullStateSender > sender );

        ~FullStateObserver();

        void
        setFullStateSender( FullStateSender& sender );

        void
        setFullStateSender( std::auto_ptr< FullStateSender > sender );

        void
        sendFullState();

    private:
        void
        clear();
    };

/*!
//===================================================================
//
//  CLASS: FullStateSenderPlayer
//
//  DESC: Base class for the full state protocol for players.
//
//===================================================================
*/

    class FullStateSenderPlayer
        : public FullStateSender
    {
    private:
        const SerializerPlayer& M_serializer;

/*:TODO: M_self needs to be replaced with a reference to a
  FullStateObserver and FullStateObserver should have virtual functions for
  stuff like velocity, stamina, etc */
        const Player& M_self;
        const Stadium& M_stadium;

    protected:
        const SerializerPlayer&
        serializer() const
        { return M_serializer; }

        const Player&
        self() const
        { return M_self; }

        const Stadium&
        stadium() const
        { return M_stadium; }

    public:
        class Params
        {
        public:
            Params( std::ostream& transport,
                    const Player& self,
                    const Stadium& stadium,
                    const SerializerPlayer& serializer )
                : m_transport( transport ),
                  m_self( self ),
                  m_stadium( stadium ),
                  m_serializer( serializer )
            {}

            std::ostream& m_transport;
            const Player& m_self;
            const Stadium& m_stadium;
            const SerializerPlayer& m_serializer;
        };

        typedef Ptr(*Creator)( const Params& );
        typedef rcss::lib::Factory< Creator, int > Factory;

        static
        Factory&
        factory();

        FullStateSenderPlayer( const Params& params );

        virtual
        ~FullStateSenderPlayer();
    };

/*!
//===================================================================
//
//  CLASS: FullStateSenderPlayerV1
//
//  DESC: version 1 of the full state protocol. No actual information
//        is sent in this version as the protocol did not exist until
//        version 5
//
//===================================================================
*/

    class FullStateSenderPlayerV1
        : public FullStateSenderPlayer
    {
    public:
        FullStateSenderPlayerV1( const Params& );

        virtual
        ~FullStateSenderPlayerV1();
        
        virtual
        void
        sendFullState();
    };

/*!
//===================================================================
//
//  CLASS: FullStateSenderPlayerV5
//
//  DESC: version 5 of the full state protocol. This is the first
//        version in which full state information may be sent to
//        players.
//
//===================================================================
*/

    class FullStateSenderPlayerV5
        : public FullStateSenderPlayerV1
    {
    public:
        FullStateSenderPlayerV5( const Params& );

        virtual
        ~FullStateSenderPlayerV5();

        virtual
        void
        sendFullState();

    protected:
        virtual
        void
        sendSelf();

        virtual
        void
        sendScore();

        virtual
        void
        sendBall();

        virtual
        void
        sendPlayer( const Player& p );
    };

/*!
//===================================================================
//
//  CLASS: FullStateSenderPlayerV8
//
//  DESC: version 8 of the full state protocol. 
//
//===================================================================
*/

    class FullStateSenderPlayerV8
        : public FullStateSenderPlayerV5
    {
    public:
        FullStateSenderPlayerV8( const Params& );

        virtual
        ~FullStateSenderPlayerV8();

    protected:
        virtual
        void
        sendSelf();

        virtual
        void
        sendScore();

        virtual
        void
        sendBall();

        virtual
        void
        sendPlayer( const Player& p );
    };
}

#endif