basiccoach.h

IRAN mesard_2d 2005源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET).
 *
 *  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.
 *
 *  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 Library General Public License for more details.
 *
 *  This file is created by: Mohammad Salehe
 *  and is modified by: Darioush Jalali
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __BASIC_COACH_H
#define __BASIC_COACH_H


#include <iostream>

#include "SignalsMask.h"
#include "Connection.h"
#include "CoachWorldModel.h"
#include "SignalHandled.h"
#include "Trainer.h"

#ifndef NULL
#	define NULL 0
#endif // NULL


class Command;
class SExpression;

class BasicCoach: public SignalHandled
{
protected:
	bool isTrainer;
	Trainer *trainer;
	
	
	Connection *connection;
	CoachWorldModel *worldModel;
	CoachWorldModelHistory worldModelHistory;

	Command *freeFormCycleCommand;
	Command *changePlayerCycleCommand;

	int curReceiveMS;
	int sigAlarmCounter;
/*
	bool freeFormCycleCommandDecidePermittedFlag;
	bool CycleCommandSendPermittedFlag;
	bool headCycleCommandDecidePermittedFlag;
	bool headCycleCommandSendPermittedFlag;
*/

	void setConfigDefaults();
	void initOnlineConnection();
	void closeOnlineConnection();

/*
	void initVirtualConnection();
	void closeVirtualConnection();
*/

/*
	void offlinePlayerManager();
	bool initOfflinePlayerInputLog(std::ifstream &inputLog);
	int parseOfflinePlayerLogLine(std::ifstream &inputLog,
			std::string &title, std::string &message);

	virtual void logEndInf() = 0;
*/
	virtual void ok         (const SExpression &exp);
	virtual void okTeamNames(const SExpression &exp);
	virtual void seeGlobal(const SExpression &exp);
	virtual void fullState(const SExpression &exp);
	virtual void hear(const SExpression &exp);
	virtual void serverParam(const SExpression &exp);
	virtual void playerParam(const SExpression &exp);
	virtual void playerType(const SExpression &exp);
	virtual void init(const SExpression &exp);
	virtual void think(const SExpression &exp);
	virtual void changePlayerType(const SExpression &exp);
	
	virtual bool decide() = 0;
	virtual bool synchronize() = 0;

private:
	void updateTeamNames();
public:
	BasicCoach(int argc, char **argv);
	virtual ~BasicCoach();

	virtual void run();

	virtual bool sigAlrmHandler();
	virtual bool sigIntHandler();
	virtual bool sigIOHandler();
	virtual bool sigKillHandler();
	virtual bool sigQuitHandler();
	virtual bool sigSegVHandler();
	virtual bool sigTermHandler();

	virtual SignalsMask signalsMask();
	virtual void sigAlrmTiming(long &begin, long &interval);

	// Getting functions
/*
	bool isBodyCycleCommandDecidePermitted() const;
	bool isBodyCycleCommandSendPermitted() const;
	bool isHeadCycleCommandDecidePermitted() const;
	bool isHeadCycleCommandSendPermitted() const;
*/
	const WorldModel &getWorldModel() const;

	// Setting functions
/*
	void setBodyCycleCommandDecidePermitted(bool bodyCycleCommandDecidePermittedFlagArg);
	void setBodyCycleCommandSendPermitted(bool bodyCycleCommandSendPermittedFlagArg);
	void setHeadCycleCommandDecidePermitted(bool headCycleCommandDecidePermittedFlagArg);
	void setHeadCycleCommandSendPermitted(bool headCycleCommandSendPermittedFlagArg);
*/

};

#endif // __BASIC_COACH_H