commserver.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               *

*                                                                         *
 *   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.             *
 ***************************************************************************/

//#include <netinet/in.h>
#include "commserver.h"
#include <iostream>
#include <fstream>
using namespace std;

CommServer::CommServer()
{
}

bool
CommServer::Init(const string& host, int port)
{
/*
    mParser = shared_dynamic_cast<oxygen::BaseParser>(GetCore()->New(parser));

    if (mParser.get() == 0)
    {
        GetLog()->Error() <<
            "ERROR: (CommServer) failed to create parser " << parser << endl;
        return false;
    }

    return mCommUnit.OpenConnection(host,port);
*/
    return mCommUnit.OpenConnection(host,port);
}

bool
CommServer::ReadMessage()
{
    string line;
    return ReadMessage(line);
}

bool
CommServer::ReadMessage(string& msg)
{
    msg = mCommUnit.GetMessage();
    if (msg == "") {
        return false;
    }

	static bool first = true;
	if (first) {
		ofstream os("receive.log");
		os << endl << msg << endl;
	} else {
		ofstream os("receive.log", ios::app);
		os << endl << msg << endl;
	}
    Parse(msg);
    return true;
}

void
CommServer::Parse(const string& message)
{
/*
    if (mParser.get() == 0)
    {
        mPredicates = shared_ptr<PredicateList>();
        return;
    }

    mPredicates = mParser->Parse(message);
*/
    mPredicates.push_back(Predicate());
    Parser::Parse(message, mPredicates[mPredicates.size() - 1]);
}

vector<Predicate>&
CommServer::GetPredicates()
{
    return mPredicates;
}

void
CommServer::SendMessage(const std::string& message)
{
    unsigned long len = htonl(message.size());
    string s((const char*)&len,sizeof(len));
    s += message;
    mCommUnit.PutMessage(s);
}

void
CommServer::SendPauseCmd()
{
    SendMessage("P");
}

void
CommServer::SendRunCmd()
{
    SendMessage("R");
}

void
CommServer::SendDisconnectCmd()
{
    SendMessage("D");
}

void
CommServer::SendDropBallCmd()
{
    SendToWorldModel("(dropBall)");
}

void
CommServer::SendToWorldModel(const std::string& msg)
{
    SendMessage("W"+msg);
}

void
CommServer::SendTrainerCmd(const std::string& cmd)
{
    SendToWorldModel(cmd);
}

void
CommServer::SendKickOffCmd(EKickOff mode)
{
    switch (mode)
    {
    case eRandom:
        SendToWorldModel("(kickOff)");
        break;
    case eLeft:
        SendToWorldModel("(playMode KickOff_Left)");
        break;
    case eRight:
        SendToWorldModel("(playMode KickOff_Right)");
        break;
    }
}