trainer.h

RoboCup 3D 仿真组清华大学2005的源代码

/***************************************************************************
 *   Copyright (C) 2005 by Rujia Liu                                       *
 *   [e-mail]                                                  *
 *                                                                         *
 *   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; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef TRAINER_H
#define TRAINER_H
#include <soccer/soccertypes.h>
#include <zeitgeist/leaf.h>
#include "logserver.h"

class Trainer{
public:
    Trainer();
    ~Trainer();

    bool IsConnected();
    bool Connect(const char* ip);
    
    void KickOff()
    {
        send_command("(kickoff)"); 
    }
    
    void DropBall()
    {
        send_command("(dropBall)"); 
    }

    void SetPlayMode(TPlayMode mode)
    {
        char s[1024];
        if(mode == PM_BeforeKickOff) strcpy(s, STR_PM_BeforeKickOff);
        else if(mode == PM_KickOff_Left) strcpy(s, STR_PM_KickOff_Left);
        else if(mode == PM_KickOff_Right) strcpy(s, STR_PM_KickOff_Right);
        else if(mode == PM_PlayOn) strcpy(s, STR_PM_PlayOn);
        else if(mode == PM_KickIn_Left) strcpy(s, STR_PM_KickIn_Left);
        else if(mode == PM_KickIn_Right) strcpy(s, STR_PM_KickIn_Right);
        else if(mode == PM_Goal_Left) strcpy(s, STR_PM_Goal_Left);
        else if(mode == PM_Goal_Right) strcpy(s, STR_PM_Goal_Right);
        else if(mode == PM_GameOver) strcpy(s, STR_PM_GameOver);
        else if(mode == PM_CORNER_KICK_LEFT) strcpy(s, STR_PM_CORNER_KICK_LEFT);
        else if(mode == PM_CORNER_KICK_RIGHT) strcpy(s, STR_PM_CORNER_KICK_RIGHT);
        else if(mode == PM_GOAL_KICK_LEFT) strcpy(s, STR_PM_GOAL_KICK_LEFT);
        else if(mode == PM_GOAL_KICK_RIGHT) strcpy(s, STR_PM_GOAL_KICK_RIGHT);

        SetPlayMode(s);
    }
    
    void SetPlayMode(const char* str)
    {
        char s[1024];
        sprintf(s, "(playMode %s)", str);
        send_command(s);
    }
    
    // team = 1~2, unum = 1~11
    void SetAgentStatus(int team, int unum, salt::Vector3f pos, salt::Vector3f vel)
    {
        char s[1024];
        sprintf(s, "(agent (team %s) (unum %d) (pos %.3f %.3f %.3f) (vel %.3f %.3f %.3f))", 
                team==1?"L":"R", unum, pos[0], pos[1], pos[2], vel[0], vel[1], vel[2]); 
        send_command(s);
    }
    
    void SetBallStatus(salt::Vector3f pos, salt::Vector3f vel)
    {
        char s[1024];
        sprintf(s, "(ball (pos %.3f %.3f %.3f) (vel %.3f %.3f %.3f))", 
                pos[0], pos[1], pos[2], vel[0], vel[1], vel[2]);
        send_command(s);
    }
    
    void SetBallVel(salt::Vector3f vel)
    {
        char s[1024];
        sprintf(s, "(ball (vel %.3f %.3f %.3f))", vel[0], vel[1], vel[2]);
        send_command(s);
    }

protected:
    int sock;
    bool match(const char* data);
    bool get_data(char* data);
    bool send_data(const char* data);
    void send_command(const char* str);   
    bool mConnected;
    
public:    
    LogServer log;
};

#endif