monitorserver.hh

2007年机器人足球世界杯3D仿真组亚军

/*
 *  Little Green BATS (2006)
 *
 *  Authors: 	Martin Klomp ([e-mail])
 *		Mart van de Sanden ([e-mail])
 *		Sander van Dijk ([e-mail])
 *		A. Bram Neijt ([e-mail])
 *		Matthijs Platje ([e-mail])
 *
 *  Date: 	September 14, 2006
 *
 *  Website:	http://www.littlegreenbats.nl
 *
 *  Comment:	Please feel free to contact us if you have any 
 *		problems or questions about the code.
 *
 *
 *  License: 	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 __INC_BATS_MONITORSERVER_H_
#define __INC_BATS_MONITORSERVER_H_

#include <string>
#include <map>
#include "server.hh"

#include "gamemodel.hh"

#include "parser.hh"

using namespace mvds;

namespace bats {

  /**
   *  This is a server with which the agents can communicate by
   *  sending commands. It is used to enable the agents to
   *  draw to the monitor (circle, arrows, lines, etc.). Which
   *  is very usefull.
   *  Commands are currently send in the predicate (list like) format
   *  also used by the sockerserver and are, except for the identity message,
   *  handled by Gamemodel. 
   */
  class MonitorServer : public Server {

    GameModel &d_gameModel;

    Parser d_parser;

    std::string d_buffer;
    
    struct Data : public SocketData {
      unsigned team, unum;
      char buffer[2048];
      unsigned bufLen;
    };
  
    void parseMessage(Data &info, std::string const &message);

    static void cIdentify(Data &info, rPredicate const &pred);

  public:

    /**
     *  @param _port the port to bind to.
     */
    MonitorServer(GameModel &gameModel, int _port)
      : Server(_port), d_gameModel(gameModel)
    {
      //socket.setBlocking(false);
    }

    virtual ~MonitorServer()
    {
      std::cerr << "Socket: Monitor Server Destroy." << std::endl;
      finish();
    }

    /**
     *  This is automatically called when a new connection comes in.
     */
    virtual bool accept_connection(SocketInfo &_info)
    {
      Data* d = new Data;
      d->bufLen = 0;
      _info.data = d;
      _info.socket.setBlocking(false);
      std::cerr << "MonitorServer: accepting connection!" << std::endl;

      return true;
    }

    /**
     *  This method is called when new date is available to read.
     */
    virtual bool ready_to_read(SocketInfo &_info);

    /**
     *  This method is called when buffer space is available to write data to.
     */
    virtual bool ready_to_write(SocketInfo &_info);

    /**
     *  This method is called when an out of bounds message is received.
     */
    virtual bool ready_to_read_oob(SocketInfo &_info) { std::cerr << "OOB!?" << std::endl; return true; }

    /**
     *  This method is called when a connection is closed.
     */
    virtual void delete_connection(SocketInfo &_info)
    {
      delete _info.data;
    }

  };


};

#endif //  __INC_MVDS_MONITORSERVER_H_