agentaspect.cpp

robocup rcssserver 运行防真机器人足球比赛所用的服务器端

/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: agentaspect.cpp,v 1.9 2007/06/20 00:51:42 fruit Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "agentaspect.h"
#include <zeitgeist/logserver/logserver.h>

using namespace boost;
using namespace oxygen;
using namespace salt;
using namespace std;

AgentAspect::AgentAspect() : Transform()
{
    SetName("agentAspect");
    mID = -1;
    mPerceptorCycle = 0;
}

AgentAspect::~AgentAspect()
{
}

bool
AgentAspect::RealizeActions(boost::shared_ptr<ActionObject::TList> actions)
{
    UpdateEffectorMap();

    for (
         ActionObject::TList::iterator iter = actions->begin();
         iter != actions->end();
         ++iter
         )
        {
            shared_ptr<ActionObject> action = (*iter);
            std::string predicate = action->GetPredicate();

            shared_ptr<Effector> effector = GetEffector(predicate);
            if (effector.get() == 0)
                {
                    GetLog()->Warning()
                        <<  "(AgentAspect) No effector found for predicate "
                        << predicate << "\n";
                    continue;
                }

            bool realized = effector->Realize(action);

            if (! realized)
                {
                    GetLog()->Warning()
                        << "(AgentAspect) Failed to realize predicate "
                        << predicate << "\n";
                }
        }

    return true;
}

shared_ptr<PredicateList>
AgentAspect::QueryPerceptors()
{
    mPerceptorCycle++;
    // build list of perceptors, searching recursively
    TLeafList perceptors;
    ListChildrenSupportingClass<Perceptor>(perceptors,true);

    shared_ptr<PredicateList> predList(new PredicateList());

    // query the perceptors for new data
    for (
         TLeafList::iterator iter = perceptors.begin();
         iter != perceptors.end();
         ++iter
         )
        {
            shared_ptr<Perceptor> pct = shared_static_cast<Perceptor>(*iter);
            if ( mPerceptorCycle % pct->GetInterval() == 0 )
                pct->Percept(predList);
        }

    return predList;
}

shared_ptr<Effector>
AgentAspect::GetEffector(const std::string predicate) const
{
    TEffectorMap::const_iterator iter = mEffectorMap.find(predicate);

    if (iter == mEffectorMap.end())
        {
            return shared_ptr<Effector>();
        }

    return (*iter).second;
}

void
AgentAspect::UpdateEffectorMap()
{
    // build list of effectors, searching recursively
    TLeafList effectors;
    ListChildrenSupportingClass<Effector>(effectors,true);

    // build the effector map
    mEffectorMap.clear();

    for (
         TLeafList::iterator iter = effectors.begin();
         iter != effectors.end();
         ++iter
         )
        {
            shared_ptr<Effector> effector = shared_static_cast<Effector>(*iter);
            mEffectorMap[effector->GetPredicate()] = effector;
        }
}

bool
AgentAspect::Init(const string& createEffector, int id)
{
    mID = id;

    shared_ptr<Effector> create = shared_dynamic_cast<Effector>
        (GetCore()->New(createEffector));

    if (create.get() == 0)
        {
            GetLog()->Error()
                << "ERROR: (AgentAspect) Could not construct a createEffector '"
                << createEffector << "'\n";
            return false;
        }

    create->SetName("_CreateEffector");

    // link it into our hierarchy
    bool added = AddChildReference(create);

    if (! added)
        {
            GetLog()->Error()
                << "ERROR: (AgentAspect) failed to set up the CreateEffector '"
                << createEffector << "'\n";
            return false;
        } else
            {
                GetLog()->Debug() << "(AgentAspect) created CreateEffector '"
                                  << createEffector << "'\n";
            }

    return added;
}