behavior.cpp

浙江大学 RoboCup3D 2006 源代码

/***************************************************************************
 *   Copyright (C) 2004 - 2006 by ZJUBase                                  *
 *                                National Lab of Industrial Control Tech. *
 *                                Zhejiang University, China               *
 *                                                                         *
 *   Achievements of ZJUBase in RoboCup Soccer 3D Simulation League:       *
 *    In RoboCup championship,                                             *
 *      - June 2006 - 3rd place in RoboCup 2006, Bremen, Germany (lost     *
 *        the semi-final with a coin toss)                                 *
 *      - July 2005 - 3rd place in RoboCup 2005, Osaka, Japan (share the   *
 *        3rd place with team Caspian)                                     *
 *    In RoboCup local events,                                             *
 *      - April 2006 - 2nd place in RoboCup Iran Open 2006, Tehran, Iran   *
 *        (lost the final with a coin toss)                                *
 *      - December 2005 - 2nd place in AI Games 2005, Isfahan, Iran        *
 *      - July 2005 - champion in China Robot Competition 2005, Changzhou, *
 *        China                                                            *
 *      - October 2004 - champion in China Soccer Robot Competition 2004,  *
 *        Guangzhou, China                                                 *

*                                                                         *
 *   Team members:                                                         *
 *    Currently the team leader is,                                        *
 *           Hao JIANG ([e-mail]; [e-mail])       *
 *    In the next season, the leader will be                               *
 *           Yifeng ZHANG ([e-mail])                        *
 *    ZJUBase 3D agent is created by                                       *
 *           Dijun LUO ([e-mail])                             *
 *    All the members who has ever contributed:                            *
 *           Jun JIANG                                                     *
 *           Xinfeng DU ([e-mail])                             *
 *           Yang ZHOU ([e-mail])                             *
 *           Zhipeng YANG                                                  *
 *           Xiang FAN                                                     *
 *                                                                         *
 *   Team Manager:                                                          *
 *      Ms. Rong XIONG ([e-mail])                            *
 *                                                                         *
 *   If you met any problems or you have something to discuss about        *
 *   ZJUBase. Please feel free to contact us through EMails given below.   *
 *                                                                         *
 *   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 WIN32

#include "behavior.h"
#include <iostream>
using namespace std;

extern WorldModel* g_wm;
extern CommServer* g_comm;

Behavior::Behavior()
{
	OnLink();
}

Behavior::~Behavior()
{
	OnUnlink();
}

void Behavior::ProcessInitMessage()
{
    // After startup, this initialization data message is sent to the
    // agent. On a normal startup, data will be empty. On an agent
    // migration (see Section 5.3), the data returned by the old agent
    // processes will be given to the new agent. An initialization done
    // message should be sent once the initialization data has been
    // processed and all other startup is complete.
    mComm->PutOutput(DoneInitMessage());
}

void Behavior::ProcessThinkTimeMessage()
{
    // Ktime
    // This is a think time message that notifies the agent how much
    // thinking time was used for the last thinking cycle. These are
    // only sent if send agent think times is on.
    // still unsure what the correct behavior is...
    mComm->PutOutput(DoneThinkingMessage());
}

void Behavior::Think()
{
    // Stime time data
    // This is a sensation to be given to the agent. It begins a
    // thinking cycle. The first time is the simulation time the
    // sensation was generated (also known as the send time) and the
    // second is the time that the sensation is delivered to the agent
    // (also known as the arrive time). If the parameter send agent send
    // time is off, -1 is always sent as the send time, and if the
    // parameter send agent arrive time is off, -1 is always sent as the
    // arrive time. The data is an arbitrary data string generated by
    // the world model. The agent can reply with act messages, and must
    // finish with a done thinking message.
    mComm->PutOutput(DoneThinkingMessage());
}

void Behavior::OnLink()
{
    mWM = g_wm;
    if (mWM == NULL) {
        cerr << "ERROR: (Behavior) cannot find WorldModel" << endl;
    }

    mComm = g_comm;
    if (mComm == NULL) {
	    cerr << "ERROR: (Behavior) cannot find CommServer" << endl;
    }
}

void Behavior::OnUnlink()
{
    mWM = NULL;
    mComm = NULL;
}

#endif