pcombuilder.h

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                               pcombuilder.h  
                Interface for building a player command message
                             -------------------
    begin                : 16-FEB-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 _PCOMBUILDER_H_
#define _PCOMBUILDER_H_

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#ifdef HAVE_SSTREAM
#include <sstream>
#else
#include <strstream>
#endif
#include <string>
#include <exception>

// The pcom::Builder is called from within the parser to construct the
// player command message.  It is not the job of the builder to make sure the
// grammar meets to player command grammar rules, that's the job of the parser,
// however the Builder should do some error detection to make sure
// that if for some reason the methods are called out of context, the
// builder doesn't cause the whole program to crash.
// By using a builder, complexity is removed from the parser itself,
// making it easier to focus on the grammar without distraction.  This
// also allows the behaviour of the parser to be easily modified or
// extended by simple modifying or extending the builder.


namespace rcss
{
  namespace pcom
  {

    enum VIEW_WIDTH {
      NARROW,
      NORMAL,
      WIDE
    };

    enum VIEW_QUALITY {
      LOW,
      HIGH
    };

    enum TEAM {
      LEFT_SIDE,
      RIGHT_SIDE,
      OUR,
      OPP,
      UNKNOWN_TEAM
    };

    enum EAR_MODE {
      PARTIAL,
      COMPLETE,
      UNKNOWN_EAR_MODE
    };


    class Builder
    {
      public:
        Builder(){}

        virtual ~Builder(){}

        virtual void dash( double power ) = 0;
        virtual void turn( double moment ) = 0;
        virtual void turn_neck( double moment) = 0;
        virtual void kick( double power, double dir ) = 0;
        virtual void goalieCatch( double dir ) = 0;
        virtual void say( std::string message ) = 0;
        virtual void sense_body() = 0;
        virtual void score() = 0;
        virtual void move( double x, double y ) = 0;
        virtual void change_view( VIEW_WIDTH viewWidth, VIEW_QUALITY viewQuality ) = 0;
        virtual void compression( int level ) = 0;
        virtual void bye() = 0;
        virtual void done() = 0;
        virtual void pointto( bool on, double dist, double head ) = 0;
        virtual void attentionto( bool on, TEAM team_side, std::string team_name, int at_unum ) = 0;
        virtual void tackle( double power ) = 0;
        virtual void clang( int min, int max) = 0;
        virtual void ear( bool on, TEAM team_side, std::string team_name, EAR_MODE mode ) = 0;
    };


    class BuilderErr 
        : public std::exception
    {
      protected:
        std::string M_msg;
      public:
        BuilderErr( const char* file, 
                    const int& line, 
                    const char* msg ) throw()
        {
#ifdef HAVE_SSTREAM
          std::ostringstream tmp;
          tmp << file << ": " << line << ": " << msg;
          M_msg = tmp.str();
#else
          std::ostrstream tmp;
          tmp << file << ": " << line << ": " << msg << std::ends;
          M_msg = tmp.str();
          tmp.freeze( false );
#endif
        }

        ~BuilderErr () throw () {}

        const char* what () const throw ()
        {
          return M_msg.c_str();
        }
    };
  }
}


inline std::ostream& operator<< ( std::ostream& o, 
                                  const rcss::pcom::BuilderErr& e )
{
  return o << e.what();
}

#endif