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trainercommandparser.h

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of the trainer for rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007 
00008    This program is free software; you can redistribute it and/or modify
00009    it under the terms of the GNU General Public License as published by
00010    the Free Software Foundation; version 2 of the License.
00011 
00012    This program is distributed in the hope that it will be useful,
00013    but WITHOUT ANY WARRANTY; without even the implied warranty of
00014    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015    GNU General Public License for more details.
00016 
00017    You should have received a copy of the GNU General Public License
00018    along with this program; if not, write to the Free Software
00019    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00020 
00021    Parser that gets a list of predicates and interprets the trainer
00022    commands contained in them
00023 
00024 */
00025 #ifndef TRAINERCOMMANDPARSER_H
00026 #define TRAINERCOMMANDPARSER_H
00027 
00028 #include <string>
00029 #include <oxygen/monitorserver/monitorcmdparser.h>
00030 #include <oxygen/gamecontrolserver/predicate.h>
00031 #include <oxygen/gamecontrolserver/baseparser.h>
00032 #include <salt/vector.h>
00033 #include <soccer/soccertypes.h>
00034 #include <soccer/soccerruleaspect/soccerruleaspect.h>
00035 
00036 class TrainerCommandParser : public oxygen::MonitorCmdParser
00037 {
00038 public:
00039 
00040     enum ECommandType
00041     {
00042         CT_PLAYER,
00043         CT_BALL,
00044         CT_PLAYMODE,
00045         CT_DROP_BALL,
00046         CT_KICK_OFF,
00047         CT_ACK
00048     };
00049 
00050     typedef std::map<std::string, ECommandType>  TCommandMap;
00051     typedef std::map<std::string, TTeamIndex> TTeamIndexMap;
00052 
00053     // mapping from string to TPlayMode
00054     typedef std::map<std::string, TPlayMode> TPlayModeMap;
00055 
00056 public:
00057     TrainerCommandParser();
00058 
00059     virtual ~TrainerCommandParser();
00060 
00061     bool SendAck(std::string &reply);
00062 
00067     virtual void ParseMonitorMessage(const std::string& data);
00068 
00069     virtual void OnLink();
00070 
00071     virtual void OnUnlink();
00072 
00073 protected:
00076     void ParsePredicates(oxygen::PredicateList& predList);
00077 
00082     bool ParsePredicate(const oxygen::Predicate & predicate);
00083 
00087     void ParsePlayerCommand(const oxygen::Predicate & predicate);
00088 
00092     void ParseBallCommand(const oxygen::Predicate & predicate);
00093 
00097     void ParsePlayModeCommand(const oxygen::Predicate & predicate);
00098 
00102     void ParseKickOffCommand(const oxygen::Predicate & predicate);
00103 
00104 protected:
00105     TCommandMap    mCommandMap;
00106 
00107     TTeamIndexMap  mTeamIndexMap;
00108 
00109     TPlayModeMap   mPlayModeMap;
00110 
00112     boost::shared_ptr<GameStateAspect> mGameState;
00114     boost::shared_ptr<SoccerRuleAspect> mSoccerRule;
00116     boost::shared_ptr<oxygen::BaseParser> mSexpParser;
00117 
00118     bool mGetAck;
00119     std::string mAckString;
00120 };
00121 
00122 DECLARE_CLASS(TrainerCommandParser);
00123 
00124 #endif // TRAINERCOMMANDPARSER_H

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