clangaction.h

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                                clangaction.h  
                       Abstract base class for CLang Actions
                             -------------------
    begin                : 28-MAY-2002
    copyright            : (C) 2002 by The RoboCup Soccer Server 
                           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 CLANGACTION_H
#define CLANGACTION_H

#include <memory>
#include "hasa.h"
#include "region.h"

namespace rcss
{
  namespace clang
  {
    class ActPos;
    class ActHome;
    class ActBallToReg;
    class ActBallToPlayer;
    class ActMark;
    class ActMarkLinePlayer;
    class ActMarkLineReg;
    class ActOffsidesLine;
    class ActHetType;
    class ActNamed;
    class ActPassReg;
    class ActPassUNum;
    class ActDribble;
    class ActClear;
    class ActShoot;
    class ActHold;
    class ActIntercept;
    class ActTackle;
 
    class Action 
    {
    public:
//       typedef util::Visitor20< ActPos*,
//         ActHome*,
//         ActBallToReg*,
//         ActBallToPlayer*,
//         ActMark*,
//         ActMarkLinePlayer*,
//         ActMarkLineReg*,
//         ActOffsidesLine*,
//         ActHetType*,
//         ActNamed*,
//         ActPassReg*,
//         ActPassUNum*,
//         ActDribble*,
//         ActClear*,
//         ActShoot*,
//         ActHold*,
//         ActIntercept*,
//         ActTackle* > Visitor;

//       typedef util::Visitor20< const ActPos*,
//         const ActHome*,
//         const ActBallToReg*,
//         const ActBallToPlayer*,
//         const ActMark*,
//         const ActMarkLinePlayer*,
//         const ActMarkLineReg*,
//         const ActOffsidesLine*,
//         const ActHetType*,
//         const ActNamed*,
//         const ActPassReg*,
//         const ActPassUNum*,
//         const ActDribble*,
//         const ActClear*,
//         const ActShoot*,
//         const ActHold*,
//         const ActIntercept*,
//         const ActTackle* > ConstVisitor;

//       class TypeExtractor
//         : public util::TypeExtractor20< ActPos*,
//         ActHome*,
//         ActBallToReg*,
//         ActBallToPlayer*,
//         ActMark*,
//         ActMarkLinePlayer*,
//         ActMarkLineReg*,
//         ActOffsidesLine*,
//         ActHetType*,
//         ActNamed*,
//         ActPassReg*,
//         ActPassUNum*,
//         ActDribble*,
//         ActClear*,
//         ActShoot*,
//         ActHold*,
//         ActIntercept*,
//         ActTackle* >
//       {
//       protected:
//           virtual
//           ~TypeExtractor()
//           {}

//         virtual
//         void
//         visit( ActPos* act );

//         virtual
//         void
//         visit( ActHome* act );

//         virtual
//         void
//         visit( ActBallToReg* act );

//         virtual
//         void
//         visit( ActBallToPlayer* act );

//         virtual
//         void
//         visit( ActMark* act );

//         virtual
//         void
//         visit( ActMarkLinePlayer* act );

//         virtual
//         void
//         visit( ActMarkLineReg* act );

//         virtual
//         void
//         visit( ActOffsidesLine* act );

//         virtual
//         void
//         visit( ActHetType* act );

//         virtual
//         void
//         visit( ActNamed* act );

//         virtual
//         void
//         visit( ActPassReg* act );

//         virtual
//         void
//         visit( ActPassUNum* act );

//         virtual
//         void
//         visit( ActDribble* act );

//         virtual
//         void
//         visit( ActClear* act );

//         virtual
//         void
//         visit( ActShoot* act );

//         virtual
//         void
//         visit( ActHold* act );

//         virtual
//         void
//         visit( ActIntercept* act );

//         virtual
//         void
//         visit( ActTackle* act );
//       };

//       class ConstTypeExtractor
//         : public util::TypeExtractor20< const ActPos*,
//         const ActHome*,
//         const ActBallToReg*,
//         const ActBallToPlayer*,
//         const ActMark*,
//         const ActMarkLinePlayer*,
//         const ActMarkLineReg*,
//         const ActOffsidesLine*,
//         const ActHetType*,
//         const ActNamed*,
//         const ActPassReg*,
//         const ActPassUNum*,
//         const ActDribble*,
//         const ActClear*,
//         const ActShoot*,
//         const ActHold*,
//         const ActIntercept*,
//         const ActTackle* >
//       {
//       protected:
//           virtual
//           ~ConstTypeExtractor()
//           {}

//         virtual
//         void
//         visit( const ActPos* act );

//         virtual
//         void
//         visit( const ActHome* act );

//         virtual
//         void
//         visit( const ActBallToReg* act );

//         virtual
//         void
//         visit( const ActBallToPlayer* act );

//         virtual
//         void
//         visit( const ActMark* act );

//         virtual
//         void
//         visit( const ActMarkLinePlayer* act );

//         virtual
//         void
//         visit( const ActMarkLineReg* act );

//         virtual
//         void
//         visit( const ActOffsidesLine* act );

//         virtual
//         void
//         visit( const ActHetType* act );

//         virtual
//         void
//         visit( const ActNamed* act );

//         virtual
//         void
//         visit( const ActPassReg* act );

//         virtual
//         void
//         visit( const ActPassUNum* act );

//         virtual
//         void
//         visit( const ActDribble* act );

//         virtual
//         void
//         visit( const ActClear* act );

//         virtual
//         void
//         visit( const ActShoot* act );

//         virtual
//         void
//         visit( const ActHold* act );

//         virtual
//         void
//         visit( const ActIntercept* act );

//         virtual
//         void
//         visit( const ActTackle* act );
//       };

      virtual 
      ~Action();

      virtual
      std::auto_ptr< Action >
      deepCopy() const = 0;

//       virtual
//       void
//       accept( Visitor& v ) = 0;

//       virtual
//       void
//       accept( ConstVisitor& v ) const = 0;

      virtual 
      std::ostream& 
      print( std::ostream& out ) const = 0;

      virtual
      std::ostream& 
      printPretty( std::ostream& out, const std::string& line_header ) const = 0;
    }; // end Action


    class ActPos
      : public Action
    {
    public:

      ActPos();

      ActPos( std::auto_ptr< Region > r );

      virtual
      ~ActPos();

      virtual
      std::auto_ptr< Action >
      deepCopy() const;

//       virtual
//       void
//       accept( Visitor& v );

//       virtual
//       void
//       accept( ConstVisitor& v ) const;

      virtual
      std::ostream&
      print( std::ostream& out ) const;

      virtual
      std::ostream&
      printPretty( std::ostream& out, 
                   const std::string& line_header ) const;
   
      const Region* 
      getRegion() const;

    private:
	std::auto_ptr< Region > m_reg;
    };


    class ActHome
      : public Action
    {
    public:
	
      ActHome();

      ActHome( std::auto_ptr< Region > r );

      virtual
      ~ActHome();

      virtual
      std::auto_ptr< Action >
      deepCopy() const;

//       virtual
//       void
//       accept( Visitor& v );

//       virtual
//       void
//       accept( ConstVisitor& v ) const;

      virtual
      std::ostream&
      print( std::ostream& out ) const;

      virtual
      std::ostream&
      printPretty( std::ostream& out,
                   const std::string& line_header ) const;
  
      const Region*
      getRegion() const;

    private:
	std::auto_ptr< Region > m_reg;
    };


    class ActBallToReg
      : public Action
    {
    
    public:
      ActBallToReg();

      ActBallToReg( std::auto_ptr< Region > reg, 
                    const BallMove& bmtset );

      virtual
      ~ActBallToReg();

      virtual
      std::auto_ptr< Action >
      deepCopy() const;

//       virtual
//       void
//       accept( Visitor& v );

//       virtual
//       void
//       accept( ConstVisitor& v ) const;

      virtual
      std::ostream&
      print( std::ostream& out ) const;
  
      virtual
      std::ostream&
      printPretty( std::ostream& out,
                   const std::string& line_header ) const;

      const Region*
      getRegion() const;
  
      BallMove
      getBallMove() const;

      void
      addBMT( BallMoveToken t );
  
      void
      removeBMT( BallMoveToken t );

      void
      clearBMTSet();

    private:
	std::auto_ptr< Region > m_reg; 
	BallMove m_bmtset;
    };

    class ActBallToPlayer
      : public Action
    {
    public:
      ActBallToPlayer();
  
      ActBallToPlayer( const UNumSet& players );
 
      virtual
      ~ActBallToPlayer();

      virtual
      std::auto_ptr< Action >
      deepCopy() const;

//       virtual
//       void
//       accept( Visitor& v );

//       virtual
//       void
//       accept( ConstVisitor& v ) const;

      virtual
      std::ostream&
      print( std::ostream& out ) const;
  
      virtual
      std::ostream&
      printPretty( std::ostream& out, 
                   const std::string& line_header) const;
  
      UNumSet&
      getPlayers();

      const UNumSet&
      getPlayers() const;

      void 
      setPlayers( const UNumSet& players );

      void 
      addPlayer( const UNum& u );

      void
      clearPlayers();
    private:
      UNumSet M_players;
    } ;


    class ActMark
      : public Action
    {
    public:
      ActMark();
  
      ActMark( const UNumSet& players );

      virtual
      ~ActMark();

      virtual
      std::auto_ptr< Action >
      deepCopy() const;

//       virtual
//       void
//       accept( Visitor& v );

//       virtual
//       void
//       accept( ConstVisitor& v ) const;

      virtual
      std::ostream&
      print( std::ostream& out ) const;

      virtual
      std::ostream&
      printPretty( std::ostream& out, const std::string& line_header ) const;

      UNumSet& 
      getPlayers();

      const UNumSet& 
      getPlayers() const;

      void 
      setPlayers( const UNumSet& players );

      void
      addPlayer( const UNum& i );

      void
      clearPlayers();

    private:
      UNumSet M_players;
    } ;

    class ActMarkLinePlayer
      : public Action
    {
    public:
      ActMarkLinePlayer();
  
      ActMarkLinePlayer( const UNumSet& players );

      virtual
      ~ActMarkLinePlayer();

      virtual
      std::auto_ptr< Action >
      deepCopy() const;

//       virtual
//       void
//       accept( Visitor& v );

//       virtual
//       void
//       accept( ConstVisitor& v ) const;

      virtual
      std::ostream&
      print( std::ostream& out ) const;

      virtual
      std::ostream&
      printPretty( std::ostream& out, const std::string& line_header ) const;

      UNumSet&
      getPlayers();
  
      const
      UNumSet&
      getPlayers() const;
  
      void 
      setPlayers( const UNumSet& players );
 
      void
      addPlayer( const UNum& i );
  
      void
      clearPlayers();

    private:
      UNumSet M_players;
    } ;

    class ActMarkLineReg
      : public Action
    {
    public:

      ActMarkLineReg() 
        : Action()
      {}

      ActMarkLineReg( std::auto_ptr< Region > reg ) 
        : Action(),
          m_reg( reg ) 
      {}

      ~ActMarkLineReg()
      {}

      std::ostream&
      print( std::ostream& out ) const
      { 
        out << "(markl ";
        if( getRegion() == NULL )
          out << "(null)";
        else
          out << *getRegion();
        return out << ")";
      }

      std::ostream&
      printPretty( std::ostream& out, const std::string& line_header ) const
      { 
        out << line_header << "mark line to region:" << std::endl;
        if( getRegion() == NULL )
          out << line_header << " (null)\n";
        else
          getRegion()->printPretty( out, line_header + " " );
        return out;
      }

      const Region* 
      getRegion() const 
      { return m_reg.get(); }
  
      std::auto_ptr< Region >
      detachRegion()
      { return m_reg; }

 //      virtual
//       void
//       accept( Visitor& v )
//       { v.startVisit( this ); }