monitor.h

浙江大学 RoboCup3D 2006 源代码

/***************************************************************************
 *   Copyright (C) 2004 - 2006 by ZJUBase                                  *
 *                                National Lab of Industrial Control Tech. *
 *                                Zhejiang University, 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 _MONITOR_H_
#define _MONITOR_H_

#include "global.h"
#include "types.h"
#include "glserver.h"
#include "gamestate.h"
#include "commserverbase.h"
#include <string>
using namespace std;

//=======================
double cosDeg  ( double x             );
double sinDeg  ( double x             );
double tanDeg  ( double x             );
double atanDeg ( double x             );
double atan2Deg( double x,  double y  );
double acosDeg ( double x             );
double asinDeg ( double x             );
double Rad2Deg ( double x             );
double Deg2Rad ( double x             );
//=======================

struct WM;

class Monitor {
public:
    enum EReturnType { eOK, eOptions, eErrInit, eErrRun };
	static Monitor* Instance() {return instMonitor;}

public:
    Monitor();
    bool Init(int argc, char *argv[]);
    bool Run();
    void Usage(int argc, char *argv[]);
    void KeyBindings();

    void Display(vector<string>& geoDebug, bool showReal, bool monitorOnly, WM& wm);
    void MouseMotion(int x, int y);
    void Keyboard(unsigned char key, int x, int y);
    void SpecialKeys(int glutkey, int x, int y);
    void Mouse(int button, int state, int x, int y);
    void Reshape(int width, int height);
    void Idle();

    int& GetCycle() { return mCycle; }
    void SetWindowWidth(int w) { mWidth = w; }
    void SetWindowHeight(int h) { mHeight = h; }

    static GLdouble sTeamColorLeft[4];
    static GLdouble sTeamColorRight[4];
    static GLdouble sTeamColorNoSeen[4];

private:
    // typedefs, enums, constants
    struct FlagInfo
    {
        Vector3 mOffset;
        double mRadius;
        GLdouble mColor[4];
    };

    enum ECameraMode { eFree, eFollowBall };
	static Monitor* instMonitor;

    typedef map<GameState::EFlagType, FlagInfo> TFlagInfoMap;

    static const GLdouble sGroundColor[4];
    static const GLdouble sGoalColor[4];
    static const GLdouble sBorderColor[4];
    static const GLdouble sLineColor[4];
    static const GLdouble sSphereDefaultColor[4];
    static GLdouble sBallColor[4];
    static const GLdouble sUnumColor[4];
    static const GLdouble sCenterRadius;
    static const GLdouble sGoalBoxLength;
    static const GLdouble sPenaltyLength;

    static const double s2DLowX;
    static const double s2DLowY;
    static const double s2DScale;

private:
    // methods
    EReturnType InitInternal(int argc, char* argv[]);
    void DrawScene(int pass, vector<string>& geoDebug, bool showReal, bool monitorOnly, WM& wm);
    void DrawStatusLine();
    void DrawStatusText();

    Vector3 Get2DPos(const Vector3& pos);
    void DrawOverview();

    void DrawFlag(GameState::EFlagType i, Vector3 pos, int pass);
    void DrawPlayer(TTeamIndex side, int unum, const Vector3& pos, double size, int pass);
    void DrawBall(const Vector3& pos, double size, int pass);
    void DrawBall(const Vector3& pos, double size, int pass, const Vector3& color);
    //! successor of a camera mode
    ECameraMode NextCameraMode(ECameraMode mode) const;
    //! successor of a kick off mode
    CommServerBase::EKickOff NextKickOffMode(CommServerBase::EKickOff mode) const;

public:
    // member variables
    GLServer mGLServer;
    GameState mGameState;
    GameState mGameStateReal;

private:
    //! the zeitgeist core
//    zeitgeist::Zeitgeist mZeitgeist;
    //! the oxygen core
//    oxygen::Oxygen mOxygen;
    //! the monitor library
//    MonitorLib mMonitorLib;
    //! communication Server
    CommServerBase* mCommServer;

    //! window width
    int mWidth;
    //! window height
    int mHeight;
    //! mouse motion coordinates
    Vector2 mMousePosition;
    //! amount by which the camera is moved
    double mCamDelta;
    //! the current camera mode
    ECameraMode mCameraMode;
    //! the current kick off mode
	CommServerBase::EKickOff mKickOff;
    //! flag if we want to see uniform numbers
    bool mDrawUnums;
    //! flag if we want to draw the 2D overview
    bool mDrawOverview;
    // connection parameters
    //! the server name
    string mServer;
    //! the port number
    int mPort;
    //! skip factor
    int mSkip;
    //! the current cycle
    int mCycle;

    //! flag informations for specific flags
    TFlagInfoMap mFlagInfo;
    //! default flag information (used for all flags not found in mFlagInfo)
    FlagInfo mDefaultFlagInfo;

    //JAN
    //! flag for logserver
    bool mLogserver;
    //! flag for single step
    bool mSingleStep;
    //! flag for advancing  0 -- not advanced, 1 -- forward, -1 -- backward
    char mAdvance;
    //! flag for backward playing
    bool mBackward;
};

#endif