spadescreatesenseevent.cpp

ROBOCUP 仿真3D server 源码

/* -*- 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: spadescreatesenseevent.cpp,v 1.6 2004/04/05 14:51:09 rollmark 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 "spadescreatesenseevent.h"
#include "spadesserver.h"
#include <spades/SenseEvent.hpp>
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/agentaspect/agentaspect.h>
#include <oxygen/gamecontrolserver/gamecontrolserver.h>
#include <oxygen/gamecontrolserver/baseparser.h>

using namespace oxygen;
using namespace spades;
using namespace std;
using namespace boost;

void SpadesCreateSenseEvent::Print (std::ostream & o) const
{
    o << "SpadesCreateSenseEvent(" << getTime () << ") for " << getAgent();
}

bool SpadesCreateSenseEvent::realizeEventWorldModel(spades::WorldModel* pWM)
{
    // we can't create a shared_ptr to the SpadesServer here, as this
    // shared_ptr wouldn't know of other shared_ptrs to the
    // SpadesServer
    SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(pWM);

    if (spadesServer == 0)
        {
            // we can't use the LogServer here :(
            return false;
        }

    shared_ptr<GameControlServer> gcs(spadesServer->GetGameControlServer());

    if (gcs.get() == 0)
        {
            spadesServer->GetLog()->Error()
                << "(SpadesCreateSenseEvent) GameControlServer not found.\n";
            return false;
        }

    // query the game control server for the time until the next
    // SpadesCreateSenseInterval should be realized. The gameControlServer
    // returns this time in seconds
    float deltaSense = gcs->GetSenseInterval(static_cast<int>(getAgent()));

    // calculate the corresponding amount of time steps
    int senseInterval = static_cast<int>(deltaSense / spadesServer->GetTimePerStep());

    // schedule the next CreateSenseEvent
    SimEngine* simEngine = spadesServer->GetSimEngine();
    if (simEngine == 0)
        {
            spadesServer->GetLog()->Error()
                << "(SpadesCreateSenseEvent) spades SimEngine not found.\n";
            return false;
        }

    SpadesCreateSenseEvent* event = new SpadesCreateSenseEvent
        (getTime() + senseInterval, getAgent());

    simEngine->enqueueEvent(event);

    return true;
}

spades::SenseEvent* SpadesCreateSenseEvent::createSense(spades::WorldModel* p)
{
    SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(p);
    if (spadesServer == 0)
        {
            return 0;
        }

    shared_ptr<GameControlServer> gcs(spadesServer->GetGameControlServer());
    if (gcs.get() == 0)
        {
            spadesServer->GetLog()->Error()
                << "(SpadesCreateSenseEvent) GameControlServer not found.\n";
            return 0;
        }

    shared_ptr<BaseParser> parser = gcs->GetParser();
    if (parser.get() == 0)
        {
            spadesServer->GetLog()->Error()
                << "ERROR: (SpadesCreateSenseEvent) got no parser from "
                << " the GameControlServer" << endl;
            return 0;
        }

    // lookup the AgentAspect
    int id = getAgent();
    shared_ptr<AgentAspect> agent = gcs->GetAgentAspect(id);

    if (agent.get() == 0)
        {
            spadesServer->GetLog()->Error()
                << "ERROR: (SpadesCreateSenseEvent) got no AgentAspect for id "
                << id << " from the GameControlServer" << endl;
            return 0;
        }

    // get a list of senses from the agent and generate a string
    // describing them
    shared_ptr<PredicateList> senseList = agent->QueryPerceptors();
    std::string senses = parser->Generate(senseList);

    // create the sense event
    float senseDelay = gcs->GetSenseLatency(getAgent());

    SimTime senseArriveTime =
        getTime() +
        static_cast<int>(senseDelay / spadesServer->GetTimePerStep());

    //
    // what's the correct value for ttype here ?
    // (see spades/shared/sharedtypes.hpp)
    //
    ThinkingType ttype = TT_Regular;

    SenseEvent* event = new SenseEvent
        (ttype, getTime(), senseArriveTime, getAgent());

    event->setData(senses);

    return event;
}