agentcontrol.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) 2003 Koblenz University
   $Id: agentcontrol.cpp,v 1.2 2004/05/06 09:37:39 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 "agentcontrol.h"
#include "simulationserver.h"
#include "netmessage.h"
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/gamecontrolserver/gamecontrolserver.h>
#include <oxygen/agentaspect/agentaspect.h>

using namespace oxygen;
using namespace zeitgeist;
using namespace boost;
using namespace std;

AgentControl::AgentControl() : NetControl()
{
    mLocalAddr.setPort(3100);
}

AgentControl::~AgentControl()
{
}

void AgentControl::OnLink()
{
    NetControl::OnLink();
    shared_ptr<SimulationServer> sim = GetSimulationServer();
    if (sim.get() == 0)
        {
            GetLog()->Error()
                << "(AgentControl) ERROR: SimulationServer not found\n";
            return;
        }

    mGameControlServer = sim->GetGameControlServer();
}

void AgentControl::OnUnlink()
{
    NetControl::OnUnlink();
    mGameControlServer.reset();
}

void AgentControl::ClientConnect(shared_ptr<Client> client)
{
    if (mGameControlServer.get() == 0)
        {
            return;
        }

    mGameControlServer->AgentConnect(client->id);
}

void AgentControl::ClientDisconnect(shared_ptr<Client> client)
{
    if (mGameControlServer.get() == 0)
        {
            return;
        }

    mGameControlServer->AgentDisappear(client->id);
}

void AgentControl::StartCycle()
{
    NetControl::StartCycle();

    if (
        (mGameControlServer.get() == 0) ||
        (mNetMessage.get() == 0)
        )
        {
            return;
        }

    // pass all received messages on to the GameControlServer
    for (
         TBufferMap::iterator iter = mBuffers.begin();
         iter != mBuffers.end();
         ++iter
         )
        {
            shared_ptr<NetBuffer>& netBuff = (*iter).second;
            if (
                (netBuff.get() == 0) ||
                (netBuff->IsEmpty())
                )
                {
                    continue;
                }

            // lookup the client entry corresponding for the buffer
            // entry
            TAddrMap::iterator clientIter = mClients.find(netBuff->GetAddr());
            if (clientIter == mClients.end())
                {
                    continue;
                }
            shared_ptr<Client>& client = (*clientIter).second;

            // lookup the AgentAspect node correspoding to the client
            shared_ptr<AgentAspect> agent =
                mGameControlServer->GetAgentAspect(client->id);
            if (agent.get() == 0)
                {
                    continue;
                }

            // parse and immediately realize the action
            string message;
            while (mNetMessage->Extract(netBuff,message))
                {
                    agent->RealizeActions
                        (mGameControlServer->Parse(client->id,message));
                }
        }
}

void AgentControl::EndCycle()
{
    NetControl::EndCycle();

    if (
        (mGameControlServer.get() == 0) ||
        (mNetMessage.get() == 0) ||
        (mClients.size() == 0)
        )
        {
            return;
        }

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

    // generate senses for all agents and send them to the
    // corresponding net clients
    for (
         TAddrMap::iterator iter = mClients.begin();
         iter != mClients.end();
         ++iter
         )
        {
            shared_ptr<Client>& client = (*iter).second;

            shared_ptr<AgentAspect> agent =
                mGameControlServer->GetAgentAspect(client->id);
            if (agent.get() == 0)
                {
                    continue;
                }

            shared_ptr<PredicateList> senseList = agent->QueryPerceptors();
            string senses = parser->Generate(senseList);
            if (senses.empty())
                {
                    continue;
                }

            mNetMessage->PrepareToSend(senses);
            SendMessage(client,senses);
        }
}