bodysender.h

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                                bodysender.h 
                  Classes for sending sense body 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 RCSSBODYSENDER_H
#define RCSSBODYSENDER_H

#include "sender.h"
#include "observer.h"
#include <rcssbase/lib/factory.hpp>

class Player;

namespace rcss
{
    class SerializerPlayer;

/*!
//===================================================================
//
//  CLASS: BodySender
//
//  DESC: Base class for the sense body protocol.
//
//===================================================================
*/

    class BodySender
        : protected Sender
    {
    public:
        BodySender( std::ostream& transport );
  
        virtual
        ~BodySender();

        virtual
        void
        sendBody() = 0;
    };

/*!
//===================================================================
//
//  CLASS: BodyObserver
//
//  DESC: Interface for an object that receives sense body information.
//
//===================================================================
*/

    template< typename S >
    class BodyObserver
        : protected BaseObserver< S >
    {
   public:
        typedef S BodySender;

        BodyObserver()
        {}

        BodyObserver( BodySender& sender )
            : BaseObserver< BodySender >( sender )
        {}

        BodyObserver( std::auto_ptr< BodySender > sender )
            : BaseObserver< BodySender >( sender )
        {}

        ~BodyObserver()
        {}

        void
        setBodySender( BodySender& sender )
        { BaseObserver< BodySender >::setSender( sender ); }

        void
        setBodySender( std::auto_ptr< BodySender > sender )
        { BaseObserver< BodySender >::setSender( sender ); }

        void
        sendBody()
        { BaseObserver< BodySender >::sender().sendBody(); }
    };

/*!
//===================================================================
//
//  CLASS: BodySenderPlayer
//
//  DESC: Base class for the sense body protocol for players.
//
//===================================================================
*/

    class BodySenderPlayer
        : public BodySender
    {
    public:
        typedef BodySenderPlayer Base;

        class Params
        {
        public:
            std::ostream& m_transport;
            const Player& m_self;
            const SerializerPlayer& m_ser;
            
            Params( std::ostream& transport,
                    const Player& self,
                    const SerializerPlayer& ser )
                : m_transport( transport ),
                  m_self( self ),
                  m_ser( ser )
            {}
        };

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

        static
        Factory&
        factory();

        BodySenderPlayer( const Params& params );

        virtual
        ~BodySenderPlayer();

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

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

    private:
        const SerializerPlayer& M_serializer;

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

    };

/*!
//===================================================================
//
//  CLASS: BodySenderPlayerV1
//
//  DESC: version 1 of the sense body protocol.
//
//===================================================================
*/

    class BodySenderPlayerV1
        : public BodySenderPlayer
    {
    public:

        BodySenderPlayerV1( const Params& params );

        virtual
        ~BodySenderPlayerV1();

        virtual
        void
        sendBody();

    protected:
        virtual
        void
        sendBodyData();
   
        virtual
        void
        sendVelocity();

        virtual
        void
        sendNeck();

        virtual
        void
        sendCounts();
    
    public:

    };

/*!
//===================================================================
//
//  CLASS: BodySenderPlayerV5
//
//  DESC: version 5 of the sense body protocol. Head angle and neck
//        turn count added
//
//===================================================================
*/

    class BodySenderPlayerV5
        : public BodySenderPlayerV1
    {
    public:
        BodySenderPlayerV5( const Params& params );

        virtual
        ~BodySenderPlayerV5();

    protected:
        virtual
        void
        sendNeck();

        virtual
        void
        sendCounts();
    };

/*!
//===================================================================
//
//  CLASS: BodySenderPlayerV6
//
//  DESC: version 6 of the sense body protocol. Velocity direction
//        added
//
//===================================================================
*/

    class BodySenderPlayerV6
        : public BodySenderPlayerV5
    {
    public:
        BodySenderPlayerV6( const Params& params );

        virtual
        ~BodySenderPlayerV6();

    protected:
        virtual
        void
        sendVelocity();
    };

/*!
//===================================================================
//
//  CLASS: BodySenderPlayerV7
//
//  DESC: version 7 of the sense body protocol. Extra counts added
//
//===================================================================
*/

    class BodySenderPlayerV7
        : public BodySenderPlayerV6
    {
    public:
        BodySenderPlayerV7( const Params& params );

        virtual
        ~BodySenderPlayerV7();

    protected:
        virtual
        void
        sendCounts();
      
    };

/*!
//===================================================================
//
//  CLASS: BodySenderPlayerV8
//
//  DESC: version 8 of the sense body protocol. Added arm, focus and
//        tackle details
//
//===================================================================
*/

    class BodySenderPlayerV8
        : public BodySenderPlayerV7
    {
    public:
        BodySenderPlayerV8( const Params& params );

        virtual
        ~BodySenderPlayerV8();

    protected:
        virtual
        void
        sendBodyData();
        
    };
}

#endif