📄 soccerbase.cpp
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/* -*- 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: soccerbase.cpp,v 1.12 2005/12/13 20:55:09 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 "soccerbase.h"#include <oxygen/physicsserver/body.h>#include <oxygen/physicsserver/spherecollider.h>#include <oxygen/agentaspect/perceptor.h>#include <oxygen/sceneserver/sceneserver.h>#include <oxygen/sceneserver/scene.h>#include <oxygen/sceneserver/transform.h>#include <oxygen/controlaspect/controlaspect.h>#include <soccer/gamestateaspect/gamestateaspect.h>#include <soccer/soccerruleaspect/soccerruleaspect.h>#include <soccer/agentstate/agentstate.h>#include <soccer/ball/ball.h>using namespace boost;using namespace zeitgeist;using namespace oxygen;using namespace std;boolSoccerBase::GetSceneServer(const Leaf& base, shared_ptr<SceneServer>& scene_server){ scene_server = shared_static_cast<SceneServer> (base.GetCore()->Get("/sys/server/scene")); if (scene_server.get() == 0) { base.GetLog()->Error() << "Error: (SoccerBase: " << base.GetName() << ") scene server not found.\n"; return false; } return true;}boolSoccerBase::GetTransformParent(const Leaf& base, shared_ptr<Transform>& transform_parent){ transform_parent = shared_dynamic_cast<Transform> (make_shared(base.GetParentSupportingClass("Transform"))); if (transform_parent.get() == 0) { base.GetLog()->Error() << "Error: (SoccerBase: " << base.GetName() << ") parent node is not derived from TransformNode\n"; return false; } return true;}boolSoccerBase::GetAgentState(const shared_ptr<Transform> transform, shared_ptr<AgentState>& agent_state){ agent_state = shared_dynamic_cast<AgentState>(transform->GetChild("AgentState")); if (agent_state.get() == 0) { return false; } return true;}boolSoccerBase::GetAgentBody(const shared_ptr<Transform> transform, shared_ptr<Body>& agent_body){ agent_body = shared_dynamic_cast<Body> (transform->GetChildSupportingClass("Body", true)); if (agent_body.get() == 0) { transform->GetLog()->Error() << "(SoccerBase) ERROR: " << transform->GetName() << ") node has no Body child\n"; return false; } return true;}boolSoccerBase::GetAgentBody(const Leaf& base, TTeamIndex idx, int unum, shared_ptr<Body>& agent_body){ shared_ptr<AgentState> agentState; shared_ptr<Transform> parent; // get matching AgentState if (!GetAgentState(base, idx, unum, agentState)) return false; // get AgentAspect if (!GetTransformParent(*agentState, parent)) return false; // call GetAgentBody with matching AgentAspect return GetAgentBody(parent, agent_body);}boolSoccerBase::GetAgentState(const Leaf& base, shared_ptr<AgentState>& agent_state){ shared_ptr<Transform> parent; if (! GetTransformParent(base,parent)) { return false; } return GetAgentState(parent,agent_state);}boolSoccerBase::GetAgentState(const Leaf& base, TTeamIndex idx, int unum, shared_ptr<AgentState>& agentState){ // get the active scene shared_ptr<Scene> activeScene; if (GetActiveScene(base, activeScene)) { Leaf::TLeafList leafList; // get a list of all the agent aspects activeScene->GetChildrenOfClass("AgentAspect", leafList); if (leafList.size() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase) active scene doesn't have " << "children of type AgentAspect\n"; return false; } Leaf::TLeafList::iterator iter = leafList.begin(); // search through the list to find an agent state // with matching team index and unum for ( iter; iter != leafList.end(); ++iter ) { shared_ptr<Transform> agentAspect = shared_dynamic_cast<Transform>(*iter); if (GetAgentState(agentAspect, agentState) && (agentState->GetTeamIndex() == idx) && (agentState->GetUniformNumber() == unum)) { return true; } } } return false;}boolSoccerBase::GetAgentStates(const zeitgeist::Leaf& base, TAgentStateList& agentStates, TTeamIndex idx){ // get the active scene shared_ptr<Scene> activeScene; if (GetActiveScene(base, activeScene)) { Leaf::TLeafList leafList; // get a list of all the agent aspects activeScene->GetChildrenOfClass("AgentAspect", leafList); if (leafList.size() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase) active scene doesn't have " << "children of type AgentAspect\n"; return false; } shared_ptr<AgentState> agentState; Leaf::TLeafList::iterator iter = leafList.begin(); // search through the list to find an agent state // with matching team index for (iter; iter != leafList.end(); ++iter ) { shared_ptr<Transform> agentAspect = shared_dynamic_cast<Transform>(*iter); if (agentAspect.get() == 0) continue; if (GetAgentState(agentAspect, agentState) && ((agentState->GetTeamIndex() == idx) || (idx == TI_NONE))) { agentStates.push_back(agentState); } } return true; } return false;}boolSoccerBase::GetGameState(const Leaf& base, shared_ptr<GameStateAspect>& game_state){ game_state = shared_dynamic_cast<GameStateAspect> (base.GetCore()->Get("/sys/server/gamecontrol/GameStateAspect")); if (game_state.get() == 0) { base.GetLog()->Error() << "Error: (SoccerBase: " << base.GetName() << ") found no GameStateAspect\n"; return false; } return true;}boolSoccerBase::GetSoccerRuleAspect(const Leaf& base, shared_ptr<SoccerRuleAspect>& soccer_rule_aspect){ soccer_rule_aspect = shared_dynamic_cast<SoccerRuleAspect> (base.GetCore()->Get("/sys/server/gamecontrol/SoccerRuleAspect")); if (soccer_rule_aspect.get() == 0) { base.GetLog()->Error() << "Error: (SoccerBase: " << base.GetName() << ") found no SoccerRuleAspect\n"; return false; } return true;}boolSoccerBase::GetActiveScene(const Leaf& base, shared_ptr<Scene>& active_scene){ shared_ptr<SceneServer> sceneServer; if (! GetSceneServer(base,sceneServer)) { return false; } active_scene = sceneServer->GetActiveScene(); if (active_scene.get() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase: " << base.GetName() << ") SceneServer reports no active scene\n"; return false; } return true;}boolSoccerBase::GetBody(const Leaf& base, shared_ptr<Body>& body){ shared_ptr<Transform> parent; if (! GetTransformParent(base,parent)) { return false; } body = shared_dynamic_cast<Body>(parent->GetChildOfClass("Body")); if (body.get() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase: " << base.GetName() << ") parent node has no Body child."; return false; } return true;}boolSoccerBase::GetBall(const Leaf& base, shared_ptr<Ball>& ball){ shared_ptr<Scene> scene; if (! GetActiveScene(base,scene)) { return false; } ball = shared_dynamic_cast<Ball> (base.GetCore()->Get(scene->GetFullPath() + "Ball")); if (ball.get() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase: " << base.GetName() << ") found no ball node\n"; return false; } return true;}boolSoccerBase::GetBallBody(const Leaf& base, shared_ptr<Body>& body){ shared_ptr<Scene> scene; if (! GetActiveScene(base,scene)) { return false; } body = shared_dynamic_cast<Body> (base.GetCore()->Get(scene->GetFullPath() + "Ball/physics")); if (body.get() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase: " << base.GetName() << ") found no ball body node\n"; return false; } return true;}boolSoccerBase::GetBallCollider(const zeitgeist::Leaf& base, boost::shared_ptr<oxygen::SphereCollider>& sphere){ shared_ptr<Scene> scene; if (! GetActiveScene(base,scene)) { return false; } sphere = shared_dynamic_cast<SphereCollider> (base.GetCore()->Get(scene->GetFullPath() + "Ball/geometry")); if (sphere.get() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase: " << base.GetName() << ") Ball got no SphereCollider node\n"; return false; } return true;}salt::Vector3fSoccerBase::FlipView(const salt::Vector3f& pos, TTeamIndex ti){ salt::Vector3f newPos; switch (ti) { case TI_RIGHT: newPos[0] = -pos[0]; newPos[1] = -pos[1]; newPos[2] = pos[2]; break; case TI_NONE: case TI_LEFT: newPos = pos; break; } return newPos;}TTeamIndexSoccerBase::OpponentTeam(TTeamIndex ti){ switch (ti) { case TI_RIGHT: return TI_LEFT; case TI_LEFT: return TI_RIGHT; default: return TI_NONE; }}stringSoccerBase::PlayMode2Str(const TPlayMode mode){ switch (mode) { case PM_BeforeKickOff: return STR_PM_BeforeKickOff; case PM_KickOff_Left: return STR_PM_KickOff_Left; case PM_KickOff_Right: return STR_PM_KickOff_Right; case PM_PlayOn: return STR_PM_PlayOn; case PM_KickIn_Left: return STR_PM_KickIn_Left; case PM_KickIn_Right: return STR_PM_KickIn_Right; case PM_CORNER_KICK_LEFT: return STR_PM_CORNER_KICK_LEFT; case PM_CORNER_KICK_RIGHT: return STR_PM_CORNER_KICK_RIGHT; case PM_GOAL_KICK_LEFT: return STR_PM_GOAL_KICK_LEFT; case PM_GOAL_KICK_RIGHT: return STR_PM_GOAL_KICK_RIGHT; case PM_OFFSIDE_LEFT: return STR_PM_OFFSIDE_LEFT; case PM_OFFSIDE_RIGHT: return STR_PM_OFFSIDE_RIGHT; case PM_GameOver: return STR_PM_GameOver; case PM_Goal_Left: return STR_PM_Goal_Left; case PM_Goal_Right: return STR_PM_Goal_Right; case PM_FREE_KICK_LEFT: return STR_PM_FREE_KICK_LEFT; case PM_FREE_KICK_RIGHT: return STR_PM_FREE_KICK_RIGHT; default: return STR_PM_Unknown; };}shared_ptr<ControlAspect>SoccerBase::GetControlAspect(const zeitgeist::Leaf& base,const string& name){ static const string gcsPath = "/sys/server/gamecontrol/"; shared_ptr<ControlAspect> aspect = shared_dynamic_cast<ControlAspect> (base.GetCore()->Get(gcsPath + name)); if (aspect.get() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase: " << base.GetName() << ") found no ControlAspect " << name << "\n"; } return aspect;}⌨️ 快捷键说明
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