agents.cpp~

底层robocup3d源码。 suse１０．０ kdevelop 开发.

#include "agents.h"
namespace MSpace {

Agents::Agents()
{
   MessageLength=0;
   mReadFd = 3;
   mWriteFd = 4;
}
void Agents::PutOutput(const char* out)
{
     strcpy(mBuffer + sizeof(long), out);
     unsigned int len = strlen(out);
     unsigned int netlen = htonl(len);
     memcpy(mBuffer, &netlen, sizeof(netlen));
     write(mWriteFd, mBuffer, len + sizeof(netlen));
}
void Agents::PutOutputs(const std::string& str)
{
         PutOutput(str.c_str());
}
bool Agents::SelectInput()
{
     fd_set readfds;
     FD_ZERO(&readfds);
     FD_SET(mReadFd, &readfds);
     return select(mReadFd+1, &readfds, 0, 0,0) > 0;
}
bool Agents::GetInput()
{
     // read from commserver
     memset(mBuffer, 0, sizeof(mBuffer));
     if(!SelectInput()) return false;

     unsigned int bytesRead = read(mReadFd, mBuffer, sizeof(mBuffer)); // read count
     if(bytesRead < sizeof(unsigned int)) return false;

     unsigned int msgLen = ntohl(*(unsigned int*)mBuffer);
                            MessageLength=msgLen;
     unsigned int msgRead = bytesRead - sizeof(unsigned int);
     char* offset = mBuffer + bytesRead;
     while(msgRead < msgLen){
          if(!SelectInput()) return false;
          msgRead += read(mReadFd, offset, sizeof(mBuffer) - msgRead);
          offset += msgRead;
     }
     (*offset) = 0;
     return true;
}
char* Agents::GetMsg()
{
     return mBuffer+ sizeof(long);
}
void Agents::Create(std::string TeamName,int Number)
{
   std::stringstream ss;
   ss<<"A(init (unum "<<Number<<") (teamname "<<TeamName<<"))";
   PutOutputs(ss.str());
}
void Agents::Done()
{
   PutOutputs("D");
}
void Agents::Kick(Angel ang,float force)
{
   std::stringstream ss;
   ss << "A(kick "<<ang.angel<<" "<<force<<")";
   PutOutputs(ss.str());
}
void  Agents::Notify(int time)
{
   std::stringstream ss;
   ss <<"R"<<time;
   PutOutputs(ss.str());
}
void Agents::Drive(Vec v)
{
   std::stringstream ss;
   ss << "A(drive " <<v.Vx<<" "<<v.Vy<<" "<<v.Vz<<")";
   PutOutputs(ss.str());
}
void Agents::Beam(Vec v)
{
   std::stringstream ss;
   ss << "A(beam " <<v.Vx<<" "<<v.Vy<<" "<<v.Vz<<")";
   PutOutputs(ss.str());
}
void Agents::Catch()
{
	PutOutputs("A(catch)");
}
void Agents::TurnCamera(Angel pan,Angel tilt)
{
	std::stringstream ss;
	ss <<"A(pantilt "<<pan.angel<<" "<<tilt.angel<<")";
	PutOutputs(ss.str());
}
void Agents::Say(std::string word)
{
	std::stringstream ss;
	ss <<"(say "<<word<<")";
	PutOutputs(ss.str());
}
Agents::~Agents()
{
}


}