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spadescreatesenseevent.cpp

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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: spadescreatesenseevent.cpp,v 1.6 2004/04/05 14:51:09 rollmark 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 #include "spadescreatesenseevent.h"
00023 #include "spadesserver.h"
00024 #include <spades/SenseEvent.hpp>
00025 #include <zeitgeist/logserver/logserver.h>
00026 #include <oxygen/agentaspect/agentaspect.h>
00027 #include <oxygen/gamecontrolserver/gamecontrolserver.h>
00028 #include <oxygen/gamecontrolserver/baseparser.h>
00029 
00030 using namespace oxygen;
00031 using namespace spades;
00032 using namespace std;
00033 using namespace boost;
00034 
00035 void SpadesCreateSenseEvent::Print (std::ostream & o) const
00036 {
00037     o << "SpadesCreateSenseEvent(" << getTime () << ") for " << getAgent();
00038 }
00039 
00040 bool SpadesCreateSenseEvent::realizeEventWorldModel(spades::WorldModel* pWM)
00041 {
00042     // we can't create a shared_ptr to the SpadesServer here, as this
00043     // shared_ptr wouldn't know of other shared_ptrs to the
00044     // SpadesServer
00045     SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(pWM);
00046 
00047     if (spadesServer == 0)
00048         {
00049             // we can't use the LogServer here :(
00050             return false;
00051         }
00052 
00053     shared_ptr<GameControlServer> gcs(spadesServer->GetGameControlServer());
00054 
00055     if (gcs.get() == 0)
00056         {
00057             spadesServer->GetLog()->Error()
00058                 << "(SpadesCreateSenseEvent) GameControlServer not found.\n";
00059             return false;
00060         }
00061 
00062     // query the game control server for the time until the next
00063     // SpadesCreateSenseInterval should be realized. The gameControlServer
00064     // returns this time in seconds
00065     float deltaSense = gcs->GetSenseInterval(static_cast<int>(getAgent()));
00066 
00067     // calculate the corresponding amount of time steps
00068     int senseInterval = static_cast<int>(deltaSense / spadesServer->GetTimePerStep());
00069 
00070     // schedule the next CreateSenseEvent
00071     SimEngine* simEngine = spadesServer->GetSimEngine();
00072     if (simEngine == 0)
00073         {
00074             spadesServer->GetLog()->Error()
00075                 << "(SpadesCreateSenseEvent) spades SimEngine not found.\n";
00076             return false;
00077         }
00078 
00079     SpadesCreateSenseEvent* event = new SpadesCreateSenseEvent
00080         (getTime() + senseInterval, getAgent());
00081 
00082     simEngine->enqueueEvent(event);
00083 
00084     return true;
00085 }
00086 
00087 spades::SenseEvent* SpadesCreateSenseEvent::createSense(spades::WorldModel* p)
00088 {
00089     SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(p);
00090     if (spadesServer == 0)
00091         {
00092             return 0;
00093         }
00094 
00095     shared_ptr<GameControlServer> gcs(spadesServer->GetGameControlServer());
00096     if (gcs.get() == 0)
00097         {
00098             spadesServer->GetLog()->Error()
00099                 << "(SpadesCreateSenseEvent) GameControlServer not found.\n";
00100             return 0;
00101         }
00102 
00103     shared_ptr<BaseParser> parser = gcs->GetParser();
00104     if (parser.get() == 0)
00105         {
00106             spadesServer->GetLog()->Error()
00107                 << "ERROR: (SpadesCreateSenseEvent) got no parser from "
00108                 << " the GameControlServer" << endl;
00109             return 0;
00110         }
00111 
00112     // lookup the AgentAspect
00113     int id = getAgent();
00114     shared_ptr<AgentAspect> agent = gcs->GetAgentAspect(id);
00115 
00116     if (agent.get() == 0)
00117         {
00118             spadesServer->GetLog()->Error()
00119                 << "ERROR: (SpadesCreateSenseEvent) got no AgentAspect for id "
00120                 << id << " from the GameControlServer" << endl;
00121             return 0;
00122         }
00123 
00124     // get a list of senses from the agent and generate a string
00125     // describing them
00126     shared_ptr<PredicateList> senseList = agent->QueryPerceptors();
00127     std::string senses = parser->Generate(senseList);
00128 
00129     // create the sense event
00130     float senseDelay = gcs->GetSenseLatency(getAgent());
00131 
00132     SimTime senseArriveTime =
00133         getTime() +
00134         static_cast<int>(senseDelay / spadesServer->GetTimePerStep());
00135 
00136     //
00137     // what's the correct value for ttype here ?
00138     // (see spades/shared/sharedtypes.hpp)
00139     //
00140     ThinkingType ttype = TT_Regular;
00141 
00142     SenseEvent* event = new SenseEvent
00143         (ttype, getTime(), senseArriveTime, getAgent());
00144 
00145     event->setData(senses);
00146 
00147     return event;
00148 }

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