mediator.h

2002年

#ifndef __MEDIATOR_H__
#define __MEDIATOR_H__

#include "geometry.h"
#include "command.h"
#include "list.h"
#include "smp_datastruct.h"

const int CP_max_visualrequests = 50;
const int CP_max_actions = 20;

class Mediator;

class PrioredCommand : public Command{
private:
	float priority;
	ActionType actiontype;
public:
	PrioredCommand();
	PrioredCommand(Command& cmd, ActionType actiontype, float priority){
		*this = cmd;
		this->actiontype = actiontype; this->priority = priority;
	}

	void Reset(){Command::Reset(); actiontype = Action_none; priority = 0.0f;}
	void operator =(const Command& cmd){angle = cmd.angle; x = cmd.x; y = cmd.y; 
	time = cmd.time; type = cmd.type; power = cmd.power;}
	bool operator >(const PrioredCommand& pcmd){ return priority > pcmd.priority;}
	bool operator ==(const PrioredCommand& pcmd){ return priority == pcmd.priority;}
	bool operator <(const PrioredCommand& pcmd){ return priority < pcmd.priority;}
	friend class Mediator;
	float GetPriority(){return priority;}
	ActionType GetActionType(){return actiontype;}
	friend class Mediator;
};


class VisualRequest{
private:
	float priority;
	AngleDeg angle;
	AngleDeg angle_inf;
	VIEWWIDTH view_width;
	bool valid;
public:
	VisualRequest(float priority = NoPriority, AngleDeg angle =0.0f);
	bool operator >(VisualRequest& vreq){ return  angle < vreq.angle;}
	bool operator ==(VisualRequest& vreq){ return angle == vreq.angle;}
	bool operator < (VisualRequest& vreq){ return angle > vreq.angle;}
	AngleDeg RequestedAngle(){return angle;};
	AngleDeg RequestedAngle_();
	float RequestedPriority();
	friend class Mediator;
};

/*****************	Mediator	*****************************/
class Mediator{
private:
/****	Priored Queue	**************/	
	Ordered_Soft_Queue<VisualRequest, CP_max_visualrequests> vr_queue;
	Ordered_Soft_Queue<PrioredCommand, CP_max_actions> ac_queue;

/*  visual request */
	float Vang_inf, Vang_sup;		//可能达到的视觉角度
	float Validate_default_angle;	//用于验证角度是否可达的默认的视觉宽度
	VisualRequest visualrequests[CP_max_visualrequests];
	int totalvisualrequests;
	TimedData<VIEWWIDTH> designated_viewwidth;
/*********************************/
	KT_Res pass_res;
/*********************************/
	ActionType lastactiontype;
	CMDType lastcmdtype;
	void feedback(const PrioredCommand& bestaction , int vr_idx);
	float priority_mapping(ActionType actiontype, float priority);

	int SetVisualRequests(VisualRequest* requests, int& totalrequests, VIEWWIDTH view_width, int max_requests = CP_max_visualrequests);
	int SetVisualRequests();
public:
	Mediator();

	void ResetBuffer();
	bool enroll(PrioredCommand& pcmd);
	bool enroll(Command& command, ActionType actiontype, float priority);
	bool enroll(float priority, AngleDeg angle);
	void SetViewWidth(VIEWWIDTH view_width);
	bool IsViewWidthSet();
	bool ValidRequestAng(float ang, float shrinked_angle = 0);
	void SetViewRange();

	void mediation();
	ActionType LastActionType();
	CMDType LastCmdType();
	
	void Getbestaction(PrioredCommand& bestaction);

/***	For Visual Decision and Audio Decision	***/
	TimedData<bool> PassOut;
	TimedData<bool> KickOut;
	PrioredCommand submitaction;
	friend class VisualSystem; 
};

#endif //__MEDIATOR_H__