command.cpp~

底层robocup3d源码。 suse１０．０ kdevelop 开发.

#include "command.h"
extern MSpace::Connect net;
extern MSpace::Geometry geometry;
namespace MSpace {

Command::Command()
{
	lastdrive.sentcycle=0.0;
}
void Command::Create(std::string TeamName,int Number)
{
	std::stringstream ss;
	ss<<"A(init (unum "<<Number<<") (teamname "<<TeamName<<"))";
	net.PutOutputs(ss.str());
}
void Command::Done()
{
	net.PutOutputs("D");
}
void Command::Kick(Angel ang,float force)
{
	std::stringstream ss;
	ss << "A(kick "<<ang.angel<<" "<<force<<")";
	net.PutOutputs(ss.str());
	lastdrive.sentcycle=param.CycleReceive;
	lastdrive.force=Vec(0,0,0);
}
void  Command::Notify(int time)
{
	std::stringstream ss;
	ss <<"R"<<time;
	net.PutOutputs(ss.str());
}
void Command::Drive(Vec v)
{
	if(v.GetMod()>100)v.SetMod(100);
	std::stringstream ss;
	ss << "A(drive " <<v.Vx<<" "<<v.Vy<<" "<<v.Vz<<")";
	net.PutOutputs(ss.str());
	lastdrive.sentcycle=param.CycleReceive;
	lastdrive.force=v;
}
void Command::Beam(Vec v)
{
	std::stringstream ss;
	ss << "A(beam " <<v.Vx<<" "<<v.Vy<<" "<<v.Vz<<")";
	net.PutOutputs(ss.str());
}
void Command::Catch()
{
	net.PutOutputs("A(catch)");
}
void Command::PutKick(Angel ang,float force)
{
	std::stringstream ss;
	ss << "A(kick "<<ang.angel<<" "<<force<<")";
	comq.enQueue(ss.str());
	lastdrive.sentcycle=param.CycleReceive;
	lastdrive.force=Vec(0,0,0);
}
void Command::PutDrive(Vec v)
{
	if(v.GetMod()>100)v.SetMod(100);
	std::stringstream ss;
	ss << "A(drive " <<v.Vx<<" "<<v.Vy<<" "<<v.Vz<<")";
	//std::cout<<"string:  "<<ss.str()<<std::endl;
	comq.enQueue(ss.str());
}
void Command::PutCatch()
{
	comq.enQueue("A(catch)");
}
void Command::SentCommand()
{
	std::string cmd;
	if(comq.getFront(cmd)!=DOWNFLOW)
	{
		net.PutOutputs(cmd);
		comq.delQueue();
		int i=1;
		if(param.GetString(cmd.c_str(),i)=="drive")
		{
			lastdrive.sentcycle=param.CycleReceive;
			lastdrive.force.Vx=param.GetFloat(cmd.c_str(),i);
			lastdrive.force.Vy=param.GetFloat(cmd.c_str(),i);
			//std::cout<<"lastdrive:"<<lastdrive.force<<std::endl;
		}
	}
}
void Command::TurnCamera(Angel pan,Angel tilt)
{
	std::stringstream ss;
	ss <<"A(pantilt "<<pan.angel<<" "<<tilt.angel<<")";
	net.PutOutputs(ss.str());
	Angel tempAn(param.pan);
	tempAn=tempAn+pan;
	param.pan=tempAn.angel;
}
void Command::Say(std::string word)
{
	std::stringstream ss;
	ss <<"A(say "<<word<<")";
	net.PutOutputs(ss.str());
}
Vec Command::GetLastDriveForce()
{
	return lastdrive.force;
}	
long Command::GetLastDriveCycle()
{
	return lastdrive.sentcycle;
}
Command::~Command()
{
}


}