sensehandler_8c-source.html

来自「仿真人工智能是指用人工的方法和技术」· HTML 代码 · 共 583 行 · 第 1/5 页

00269     <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a90">processNewObjectInfo</a>( o, time, dDist, iDir, dDistChange,
00270            dDirChange, (<a class="code" href="Geometry_8h.html#a2">AngDeg</a>)iBodyFacingDir, (<a class="code" href="Geometry_8h.html#a2">AngDeg</a>)iHeadFacingDir,
00271            isGoalie );
00272     }
00273   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a98">mapUnknownPlayers</a>( time );       <font class="comment">// map players with unknown nr</font>
00274   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a11">setTimeLastSeeMessage</a>( time );   <font class="comment">// set time of last see message</font>
00275                                        <font class="comment">// this must be done after mapping since</font>
00276                                        <font class="comment">// otherwise mutex in WM is unlocked!</font>
00277   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00278 }
00279 
<a name="l00285"></a><a class="code" href="classSenseHandler.html#a4">00285</a> <font class="keywordtype">bool</font> <a class="code" href="classSenseHandler.html#a4">SenseHandler::analyzeSeeGlobalMessage</a>( <font class="keywordtype">char</font> *strMsg )
00286 {
00287   Log.logWithTime( 2, <font class="stringliteral">" incoming see global message"</font> );
00288   strcpy( <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#m3">strLastSeeMessage</a>, strMsg );
00289 
00290   <a class="code" href="SoccerTypes_8h.html#a240">ObjectT</a> o;
00291   <font class="keywordtype">bool</font>    isGoalie;
00292   <font class="keywordtype">double</font>  dX, dY, dVelX, dVelY;
00293   <font class="keywordtype">int</font>     iTime;
00294   <a class="code" href="Geometry_8h.html#a2">AngDeg</a>  angBody, angNeck;
00295   <a class="code" href="classTime.html">Time</a>    time = <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a4">getCurrentTime</a>();
00296 
00297   iTime = <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg );         <font class="comment">// get the time</font>
00298   time.<a class="code" href="classTime.html#a1">updateTime</a>( iTime );
00299 
00300   <font class="keywordflow">while</font>( *strMsg != <font class="charliteral">')'</font> )                          <font class="comment">// " ((objname.." or ")"</font>
00301   {
00302     dX = dY = dVelX = dVelY = <a class="code" href="SoccerTypes_8h.html#a19">UnknownDoubleValue</a>;
00303     angBody = angNeck = <a class="code" href="SoccerTypes_8h.html#a20">UnknownAngleValue</a>;
00304     strMsg += 2;          <font class="comment">// go the start of the object name</font>
00305 
00306     <font class="comment">// get the object type at the current position in the string</font>
00307     o = <a class="code" href="classSoccerTypes.html#d1">SoccerTypes::getObjectFromStr</a>( &amp;strMsg, &amp;isGoalie, <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a18">getTeamName</a>() );
00308     <font class="keywordflow">if</font>( o == <a class="code" href="SoccerTypes_8h.html#a240a113">OBJECT_ILLEGAL</a> )
00309     {
00310       Log.log( 4, <font class="stringliteral">"Illegal object"</font> );
00311       Log.log( 4, <font class="stringliteral">"total messages: %s"</font>, <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#m3">strLastSeeMessage</a> );
00312       Log.log( 4, <font class="stringliteral">"rest of message: %s"</font>, strMsg );
00313     }
00314 
00315     dX = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );        <font class="comment">// parse first value</font>
00316     dY = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );        <font class="comment">// parse second value</font>
00317     <font class="keywordflow">if</font> ( *strMsg != <font class="charliteral">')'</font> )                           <font class="comment">// if it was no flag</font>
00318     {
00319       dVelX = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );   <font class="comment">// parse delta x</font>
00320       dVelY = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );   <font class="comment">// parse delta y</font>
00321       <font class="keywordflow">if</font>( *strMsg != <font class="charliteral">')'</font> )                          <font class="comment">// stil not finished</font>
00322       {                                             <font class="comment">// get body and neck angle</font>
00323         angBody = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );
00324         angNeck = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );
00325       }
00326     }
00327     <font class="comment">// skip ending bracket of object information.</font>
00328     strMsg++;
00329 
00330     <font class="comment">// process the parsed information (unread values are Unknown...)</font>
00331     <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a88">processSeeGlobalInfo</a>( o, time, <a class="code" href="classVecPosition.html">VecPosition</a>(dX,dY),
00332                     <a class="code" href="classVecPosition.html">VecPosition</a>(dVelX,dVelY), angBody, angNeck );
00333     }
00334   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a9">setTimeLastSeeGlobalMessage</a>( time );  <font class="comment">// set time last see global message</font>
00335   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00336 }
00337 
<a name="l00345"></a><a class="code" href="classSenseHandler.html#a6">00345</a> <font class="keywordtype">bool</font> <a class="code" href="classSenseHandler.html#a6">SenseHandler::analyzeSenseMessage</a>( <font class="keywordtype">char</font> *strMsg )
00346 {
00347 
00348   <a class="code" href="classSenseHandler.html#a2">setTimeSignal</a>();                            <font class="comment">// set signal when to send action</font>
00349   strcpy( <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#m4">strLastSenseMessage</a>, strMsg );
00350 
00351   <font class="keywordtype">int</font> iTime = <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg );<font class="comment">// get time</font>
00352   <a class="code" href="classTime.html">Time</a> timeOld = <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a4">getCurrentTime</a>();
00353   <a class="code" href="classTime.html">Time</a> timeNew = timeOld;
00354   timeNew.<a class="code" href="classTime.html#a1">updateTime</a>( iTime );
00355 
00356   <font class="keywordflow">if</font>( timeNew.<a class="code" href="classTime.html#a5">getTimeDifference</a>( timeOld ) &gt; 1 )
00357     Log.log( 1, <font class="stringliteral">"Missed a sense!!"</font> );
00358 
00359   Log.logWithTime ( 2, <font class="stringliteral">"\n\nSENSE (%d)"</font>, timeNew.<a class="code" href="classTime.html#a3">getTime</a>() );
00360   Log.restartTimer( );
00361   Log.logWithTime ( 2, <font class="stringliteral">" alarm after %d"</font>, <a class="code" href="classSenseHandler.html#o4">iTimeSignal</a> );
00362 
00363   strMsg++;                                      <font class="comment">// go to ( before view_mode</font>
00364 
00365   <a class="code" href="classParse.html#d3">Parse::gotoFirstOccurenceOf</a>( <font class="charliteral">' '</font>, &amp;strMsg );   <font class="comment">// skip view_mode</font>
00366   strMsg++;                                      <font class="comment">// skip space</font>
00367 
00368   <a class="code" href="SoccerTypes_8h.html#a245">ViewQualityT</a> vq = <a class="code" href="classSoccerTypes.html#d28">SoccerTypes::getViewQualityFromStr</a>( strMsg ); <font class="comment">// get quality</font>
00369   <a class="code" href="classParse.html#d3">Parse::gotoFirstOccurenceOf</a>( <font class="charliteral">' '</font>, &amp;strMsg );
00370   strMsg++;                                      <font class="comment">// skip space; get view_angle</font>
00371   <a class="code" href="SoccerTypes_8h.html#a244">ViewAngleT</a> va = <a class="code" href="classSoccerTypes.html#d25">SoccerTypes::getViewAngleFromStr</a>( strMsg );
00372   <font class="keywordtype">double</font> dStamina = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );  <font class="comment">// get stamina</font>
00373   <font class="keywordtype">double</font> dEffort  = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );  <font class="comment">// get effort</font>
00374 
00375   <font class="keywordtype">double</font> dSpeed   = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );  <font class="comment">// get speed</font>
00376   <a class="code" href="Geometry_8h.html#a2">AngDeg</a> angSpeed = <a class="code" href="classParse.html#d0">Parse::parseFirstDouble</a>( &amp;strMsg );  <font class="comment">// get speed ang</font>
00377 
00378   <font class="comment">// minus sign since we store angle between neck and body and not vice versa</font>
00379   <font class="keywordtype">int</font> iHeadAngle = - <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg );    <font class="comment">// get head_angle</font>
00380 
00381   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a89">processNewAgentInfo</a>( vq, va, dStamina, dEffort, dSpeed,
00382         (<a class="code" href="Geometry_8h.html#a2">AngDeg</a>) angSpeed, (<a class="code" href="Geometry_8h.html#a2">AngDeg</a>)iHeadAngle );
00383 
00384   <font class="comment">// set all number of performed commands</font>
00385   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a26">setNrOfCommands</a>( <a class="code" href="SoccerTypes_8h.html#a247a186">CMD_KICK</a>       , <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg ) );
00386   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a26">setNrOfCommands</a>( <a class="code" href="SoccerTypes_8h.html#a247a181">CMD_DASH</a>       , <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg ) );
00387   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a26">setNrOfCommands</a>( <a class="code" href="SoccerTypes_8h.html#a247a182">CMD_TURN</a>       , <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg ) );
00388   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a26">setNrOfCommands</a>( <a class="code" href="SoccerTypes_8h.html#a247a189">CMD_SAY</a>        , <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg ) );
00389   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a26">setNrOfCommands</a>( <a class="code" href="SoccerTypes_8h.html#a247a183">CMD_TURNNECK</a>   , <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg ) );
00390   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a26">setNrOfCommands</a>( <a class="code" href="SoccerTypes_8h.html#a247a185">CMD_CATCH</a>      , <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg ) );
00391   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a26">setNrOfCommands</a>( <a class="code" href="SoccerTypes_8h.html#a247a187">CMD_MOVE</a>       , <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg ) );
00392   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a26">setNrOfCommands</a>( <a class="code" href="SoccerTypes_8h.html#a247a184">CMD_CHANGEVIEW</a> , <a class="code" href="classParse.html#d1">Parse::parseFirstInt</a>( &amp;strMsg ) );
00393 
00394   <a class="code" href="classSenseHandler.html#o0">WM</a>-&gt;<a class="code" href="classWorldModel.html#a13">setTimeLastSenseMessage</a>( timeNew );                     <font class="comment">// set the time</font>
00395   Log.logWithTime( 2, <font class="stringliteral">" end analyzing sense"</font> );
00396   <font class="keywordflow">return</font> <font class="keyword">true</font>;
00397 }