00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- 00002 00003 this file is part of rcssserver3D 00004 Fri May 9 2003 00005 Copyright (C) 2002,2003 Koblenz University 00006 Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group 00007 $Id: sexpmonitor.h,v 1.11 2005/06/29 08:39:59 fruit Exp $ 00008 00009 This program is free software; you can redistribute it and/or modify 00010 it under the terms of the GNU General Public License as published by 00011 the Free Software Foundation; version 2 of the License. 00012 00013 This program is distributed in the hope that it will be useful, 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 GNU General Public License for more details. 00017 00018 You should have received a copy of the GNU General Public License 00019 along with this program; if not, write to the Free Software 00020 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00021 00022 FileSystemSTD 00023 */ 00024 #ifndef SEXPMONITOR_H__ 00025 #define SEXPMONITOR_H__ 00026 00027 #include <string> 00028 #include <oxygen/monitorserver/monitorsystem.h> 00029 #include <plugin/soccer/trainercommandparser/trainercommandparser.h> 00030 00031 class GameStateAspect; 00032 class BallStateAspect; 00033 00034 namespace oxygen 00035 { 00036 class AgentAspect; 00037 class Scene; 00038 } 00039 00045 class SexpMonitor : public oxygen::MonitorSystem 00046 { 00047 public: 00048 SexpMonitor(); 00049 virtual ~SexpMonitor(); 00050 00055 void ParseMonitorMessage(const std::string& data); 00056 00064 virtual std::string GetMonitorInfo(const oxygen::PredicateList& pList); 00065 00074 virtual std::string GetMonitorHeaderInfo(const oxygen::PredicateList& pList); 00075 00080 void SendRotationMatrix(bool send); 00081 00082 protected: 00086 virtual bool ConstructInternal(); 00087 00089 void AddAgents(boost::shared_ptr<oxygen::Scene> activeScene, std::ostringstream& ss) const; 00090 00092 void AddFlags(boost::shared_ptr<oxygen::Scene> activeScene, std::ostringstream& ss); 00093 00095 void AddBall(boost::shared_ptr<oxygen::Scene> activeScene, std::ostringstream& ss) const; 00096 00098 virtual void OnLink(); 00099 00101 virtual void OnUnlink(); 00102 00103 virtual void UpdateCached(); 00104 00105 void ResetSentFlags(); 00106 00110 void AddPredicates(std::ostringstream& ss, const oxygen::PredicateList& pList); 00111 00112 protected: 00113 boost::shared_ptr<GameStateAspect> mGameState; 00114 00115 boost::shared_ptr<TrainerCommandParser> mCommandParser; 00116 00117 boost::shared_ptr<BallStateAspect> mBallState; 00118 00119 // flag if we want to send the rotation matrix 00120 bool mSendRotMatrix; 00121 00122 // flags for sent information 00124 bool mSentFlags; 00125 }; 00126 00127 DECLARE_CLASS(SexpMonitor); 00128 00129 #endif // SEXPMONITOR_H__