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[simspark-svn] SF.net SVN: simspark:[251] branches/rcctrainer/rcssserver3d/plugin/soccer
|
From: <sgv...@us...> - 2011-03-04 00:46:53
|
Revision: 251
http://simspark.svn.sourceforge.net/simspark/?rev=251&view=rev
Author: sgvandijk
Date: 2011-03-04 00:46:44 +0000 (Fri, 04 Mar 2011)
Log Message:
-----------
- Start of RCCMonitor (needs different name perhaps): gives agent state info
Modified Paths:
--------------
branches/rcctrainer/rcssserver3d/plugin/soccer/CMakeLists.txt
branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.h
branches/rcctrainer/rcssserver3d/plugin/soccer/export.cpp
branches/rcctrainer/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
Added Paths:
-----------
branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/
branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.cpp
branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.h
branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor_c.cpp
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/CMakeLists.txt
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-04 00:46:44 UTC (rev 251)
@@ -46,6 +46,7 @@
hmdp_effector/hmdpperceptor.h
hmdp_effector/naospecific.h
line/line.h
+ rccmonitor/rccmonitor.h
)
set(soccer_LIB_SRCS
@@ -120,6 +121,8 @@
hmdp_effector/naospecific.cpp
line/line.cpp
line/line_c.cpp
+ rccmonitor/rccmonitor.cpp
+ rccmonitor/rccmonitor_c.cpp
)
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${FREETYPE_INCLUDE_DIRS}
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -154,9 +154,10 @@
}
void
-AgentState::AddSelfMessage(const string& msg)
+AgentState::AddSelfMessage(const string& msg, float timeStamp)
{
mSelfMsg = msg;
+ mSelfMsgTimeStamp = timeStamp;
mIfSelfMsg = true;
}
@@ -200,9 +201,9 @@
}
bool
-AgentState::GetSelfMessage(string& msg)
+AgentState::GetSelfMessage(string& msg, bool check)
{
- if (! mIfSelfMsg)
+ if (check && ! mIfSelfMsg)
{
return false;
}
@@ -213,6 +214,12 @@
return true;
}
+float
+AgentState::GetSelfMessageTimeStamp()
+{
+ return mSelfMsgTimeStamp;
+}
+
void
AgentState::UpdateHierarchyInternal()
{
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2011-03-04 00:46:44 UTC (rev 251)
@@ -85,12 +85,13 @@
/** Add a new message to the list */
void AddMessage(const std::string& msg, float direction, bool teamMate);
- void AddSelfMessage(const std::string& msg);
+ void AddSelfMessage(const std::string& msg, float timeStamp);
/** Get the first message from the list */
bool GetMessage(std::string& msg, float& direction, bool teamMate);
- bool GetSelfMessage(std::string& msg);
-
+ bool GetSelfMessage(std::string& msg, bool check = true);
+ float GetSelfMessageTimeStamp();
+
bool IsSelected() const;
void Select(bool s = true);
void UnSelect();
@@ -111,6 +112,9 @@
/** self message */
std::string mSelfMsg;
+ /** time stamp of self message */
+ float mSelfMsgTimeStamp;
+
/** team-mate's message */
std::string mMateMsg;
float mMateMsgDir;
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/export.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/export.cpp 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/export.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -54,6 +54,7 @@
#include "hmdp_effector/hmdpeffector.h"
#include "hmdp_effector/hmdpperceptor.h"
#include "line/line.h"
+#include "rccmonitor/rccmonitor.h"
ZEITGEIST_EXPORT_BEGIN()
ZEITGEIST_EXPORT(SoccerControlAspect);
@@ -90,5 +91,6 @@
ZEITGEIST_EXPORT(HMDPPerceptor);
ZEITGEIST_EXPORT(HMDPEffector);
ZEITGEIST_EXPORT(Line);
+ ZEITGEIST_EXPORT(RCCMonitor);
ZEITGEIST_EXPORT_END()
Added: branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.cpp (rev 0)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -0,0 +1,476 @@
+
+/* -*- 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: RCCMonitor.cpp 246 2011-02-18 18:44:14Z sgvandijk $
+
+ 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 "rccmonitor.h"
+#include <zeitgeist/logserver/logserver.h>
+#include <kerosin/sceneserver/singlematnode.h>
+#include <kerosin/materialserver/material.h>
+#include <oxygen/monitorserver/monitorcmdparser.h>
+#include <oxygen/sceneserver/sceneserver.h>
+#include <sstream>
+
+using namespace kerosin;
+using namespace oxygen;
+using namespace zeitgeist;
+using namespace boost;
+using namespace salt;
+using namespace std;
+
+RCCMonitor::RCCMonitor() : oxygen::MonitorSystem()
+{
+ mFullState = true;
+}
+
+RCCMonitor::~RCCMonitor()
+{
+}
+
+void RCCMonitor::ClearNodeCache()
+{
+ mNodeCache.clear();
+}
+
+void RCCMonitor::UpdateCached()
+{
+ MonitorSystem::UpdateCached();
+ ClearNodeCache();
+}
+
+void RCCMonitor::OnLink()
+{
+ // setup SceneServer reference
+ mSceneServer = shared_dynamic_cast<SceneServer>
+ (GetCore()->Get("/sys/server/scene"));
+
+ if (mSceneServer.get() == 0)
+ {
+ GetLog()->Error()
+ << "(RCCMonitor) ERROR: SceneServer not found\n";
+ }
+
+}
+
+void RCCMonitor::OnUnlink()
+{
+ mSceneServer.reset();
+ mActiveScene.reset();
+ ClearNodeCache();
+}
+
+void RCCMonitor::ParseMonitorMessage(const std::string& data)
+{
+ // pass the received string on to all installed CommandParsers
+ TLeafList items;
+ ListChildrenSupportingClass<MonitorCmdParser>(items);
+
+ for (
+ TLeafList::iterator iter = items.begin();
+ iter != items.end();
+ ++iter
+ )
+ {
+ shared_static_cast<MonitorCmdParser>(*iter)
+ ->ParseMonitorMessage(data);
+ }
+}
+
+string RCCMonitor::GetMonitorInfo(const PredicateList& pList)
+{
+ stringstream ss;
+ mFullState = false;
+ DescribeCustomPredicates(ss,pList);
+ DescribeActiveScene(ss);
+
+ return ss.str();
+}
+
+string RCCMonitor::GetMonitorHeaderInfo(const PredicateList& pList)
+{
+ stringstream ss;
+ mFullState = true;
+ ClearNodeCache();
+ DescribeCustomPredicates(ss,pList);
+ DescribeActiveScene(ss);
+
+ return ss.str();
+}
+
+void RCCMonitor::DescribeCustomPredicates(stringstream& ss,const PredicateList& pList)
+{
+ ss << "(";
+
+ for (
+ PredicateList::TList::const_iterator iter = pList.begin();
+ iter != pList.end();
+ ++iter
+ )
+ {
+ const Predicate& pred = (*iter);
+
+ ss << "(";
+ ss << pred.name;
+
+ const ParameterList& paramList = pred.parameter;
+ ParameterList::TVector::const_iterator pIter = paramList.begin();
+
+ std::string param;
+ while (
+ (pIter != paramList.end()) &&
+ (paramList.AdvanceValue(pIter, param))
+ )
+ {
+ ss << " ";
+ ss << param;
+ }
+
+ ss << ")";
+ }
+
+ ss << ")";
+}
+
+void RCCMonitor::DescribeBaseNode(stringstream& ss)
+{
+ if (mFullState)
+ {
+ ss << "(nd BN";
+ } else
+ {
+ ss << "(nd";
+ }
+}
+
+void RCCMonitor::DescribeLight(stringstream& ss, boost::shared_ptr<Light> light)
+{
+ if (! mFullState)
+ {
+ return DescribeBaseNode(ss);
+ }
+
+ ss << "(nd Light ";
+
+ const RGBA& diff = light->GetDiffuse();
+ ss << "(setDiffuse " << diff.r() << " " << diff.g() << " "
+ << diff.b() << " " << diff.a() << ") ";
+
+ const RGBA& amb = light->GetAmbient();
+ ss << "(setAmbient " << amb.r() << " " << amb.g() << " "
+ << amb.b() << " " << amb.a() << ") ";
+
+ const RGBA& spec = light->GetSpecular();
+ ss << "(setSpecular " << spec.r() << " " << spec.g() << " "
+ << spec.b() << " " << spec.a() << ")";
+}
+
+void RCCMonitor::DescribeTransform(stringstream& ss, NodeCache& entry, boost::shared_ptr<Transform> transform)
+{
+ if (mFullState)
+ {
+ ss << "(nd TRF";
+ } else
+ {
+ ss << "(nd";
+ }
+
+ // include transform data only for fullstate or a modified
+ // transform node
+ const float precision = 0.005f;
+ const Matrix& mat = transform->GetLocalTransform();
+
+ bool update = false;
+
+ if (mFullState)
+ {
+ update = true;
+ } else
+ {
+ const salt::Matrix& old = entry.transform;
+
+ for (int i=0;i<16;++i)
+ {
+ const float d = fabs(old.m[i] - mat.m[i]);
+
+ if (d > precision)
+ {
+ update = true;
+ break;
+ }
+ }
+ }
+
+ if (update)
+ {
+ ss << " (SLT";
+
+ for (int i=0;i<16;++i)
+ {
+ ss << " " << mat.m[i];
+ }
+
+ ss << ")";
+
+ // update cache
+ entry.transform = mat;
+ }
+}
+
+void RCCMonitor::DescribeMesh(stringstream& ss, boost::shared_ptr<StaticMesh> mesh)
+{
+ boost::shared_ptr<SingleMatNode> singleMat =
+ shared_dynamic_cast<SingleMatNode>(mesh);
+
+ if (singleMat.get() != 0)
+ {
+ ss << "(nd SMN";
+ } else
+ {
+ ss << "(nd StaticMesh";
+ }
+
+ if (mFullState || mesh->VisibleToggled())
+ if (mesh->IsVisible())
+ ss << " (setVisible 1)";
+ else
+ ss << " (setVisible 0)";
+
+ if (! mFullState)
+ return;
+
+ if (mesh->IsTransparent())
+ {
+ ss << " (setTransparent)";
+ }
+
+ ss << " (load " << mesh->GetMeshName();
+
+ const ParameterList& params = mesh->GetMeshParameter();
+ for (
+ ParameterList::TVector::const_iterator iter = params.begin();
+ iter != params.end();
+ ++iter
+ )
+ {
+ string str;
+ params.GetValue(iter,str);
+ ss << " " << str;
+ }
+
+ ss << ")";
+
+ const Vector3f& scale = mesh->GetScale();
+
+ ss << " (sSc "
+ << scale[0] << " "
+ << scale[1] << " "
+ << scale[2] << ")";
+
+ if (singleMat.get() != 0)
+ {
+ boost::shared_ptr<Material> mat = singleMat->GetMaterial();
+ if (mat.get() != 0)
+ {
+ ss << " (sMat " << mat->GetName() << ")";
+ }
+ }
+ else{
+ std::vector<std::string> mats = mesh->GetMaterialNames();
+ if ( !mats.empty() ){
+ ss<<"(resetMaterials";
+ for(std::vector<std::string>::const_iterator iter = mats.begin();
+ mats.end() != iter; ++iter){
+ ss<<' '<<*iter;
+ }
+ ss<<')';
+ }
+ }
+}
+
+void RCCMonitor::DescribeAgentState(stringstream& ss, NodeCache& entry, boost::shared_ptr<AgentState> agentstate)
+{
+ if (mFullState)
+ {
+ ss << "(nd AS ";
+ }
+ else
+ {
+ ss << "(nd ";
+ }
+
+ int t = agentstate->GetTeamIndex();
+ int u = agentstate->GetUniformNumber();
+
+ if (mFullState || entry.ints["team"] != t || entry.ints["unum"] != u)
+ {
+ ss << "(team " << (t == TI_LEFT ? "Left" : t == TI_RIGHT ? "Right" : "None") << ")"
+ << "(unum " << u << ")";
+ entry.ints["team"] = t;
+ entry.ints["unum"] = u;
+ }
+
+ string msg;
+ agentstate->GetSelfMessage(msg, false);
+
+ if (msg != "" && agentstate->GetSelfMessageTimeStamp() != entry.floats["say"])
+ {
+ ss << "(say " << msg << ")";
+ entry.floats["say"] = agentstate->GetSelfMessageTimeStamp();
+ }
+}
+
+RCCMonitor::NodeCache* RCCMonitor::LookupNode(boost::shared_ptr<BaseNode> node)
+{
+ if (node.get() == 0)
+ {
+ assert(false);
+ return 0;
+ }
+
+ TNodeCacheMap::iterator iter = mNodeCache.find(node);
+ if (iter != mNodeCache.end())
+ {
+ return &((*iter).second);
+ }
+
+ boost::shared_ptr<Transform> transform
+ = shared_dynamic_cast<Transform>(node);
+
+ if (transform.get() != 0)
+ {
+ mNodeCache[node]
+ = NodeCache(NT_TRANSFORM, transform->GetLocalTransform());
+
+ return &(mNodeCache[node]);
+ }
+
+ boost::shared_ptr<StaticMesh> mesh
+ = shared_dynamic_cast<StaticMesh>(node);
+ if (mesh.get() != 0)
+ {
+ mNodeCache[node] = NodeCache(NT_STATICMESH);
+ return &(mNodeCache[node]);
+ }
+
+ boost::shared_ptr<Light> light
+ = shared_dynamic_cast<Light>(node);
+ if (light.get() != 0)
+ {
+ mNodeCache[node] = NodeCache(NT_LIGHT);
+ return &(mNodeCache[node]);
+ }
+
+ boost::shared_ptr<AgentState> agentstate
+ = shared_dynamic_cast<AgentState>(node);
+ if (agentstate.get() != 0)
+ {
+ mNodeCache[node] = NodeCache(NT_AGENTSTATE);
+ return &(mNodeCache[node]);
+ }
+
+ // treat every other node type as a BaseNode
+ mNodeCache[node] = NodeCache(NT_BASE);
+
+ return &(mNodeCache[node]);
+}
+
+bool RCCMonitor::DescribeNode(stringstream& ss, boost::shared_ptr<BaseNode> node)
+{
+ NodeCache* entry = LookupNode(node);
+ if (entry == 0)
+ {
+ // skip node
+ assert(false);
+ return false;
+ }
+
+ switch (entry->type)
+ {
+ default:
+ assert(false);
+ // fall through
+
+ case NT_BASE:
+ // skip node
+ return false;
+
+ case NT_TRANSFORM:
+ DescribeTransform
+ (ss, (*entry), shared_static_cast<Transform>(node));
+ return true;
+
+ case NT_STATICMESH:
+ DescribeMesh
+ (ss, shared_static_cast<StaticMesh>(node));
+ return true;
+
+ case NT_LIGHT:
+ DescribeLight
+ (ss, shared_static_cast<Light>(node));
+ return true;
+
+ case NT_AGENTSTATE:
+ DescribeAgentState
+ (ss, (*entry), shared_static_cast<AgentState>(node));
+ return true;
+ }
+}
+
+void RCCMonitor::DescribeActiveScene(stringstream& ss)
+{
+ if (mSceneServer.get() == 0)
+ {
+ return;
+ }
+
+ mActiveScene = mSceneServer->GetActiveScene();
+
+ if (mActiveScene.get() != 0)
+ {
+ if (mFullState)
+ {
+ ss << "(RSG 0 1)";
+ } else
+ {
+ ss << "(RDS 0 1)";
+ }
+
+ ss << "(";
+ DescribeScene(ss,mActiveScene);
+ ss << ")";
+ }
+}
+
+void RCCMonitor::DescribeScene(stringstream& ss, boost::shared_ptr<BaseNode> node)
+{
+ bool closeParen = DescribeNode(ss, node);
+
+ TLeafList baseNodes = node->GetBaseNodeChildren();
+ for (TLeafList::iterator i = baseNodes.begin(); i!= baseNodes.end(); ++i)
+ {
+ boost::shared_ptr<BaseNode> baseNode = shared_dynamic_cast<BaseNode>(*i);
+ DescribeScene(ss,baseNode);
+ }
+
+ if (closeParen)
+ {
+ ss << ")";
+ }
+}
Added: branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.h
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.h (rev 0)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.h 2011-03-04 00:46:44 UTC (rev 251)
@@ -0,0 +1,159 @@
+/* -*- 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: sparkmonitor.h 3 2008-11-21 02:38:08Z hedayat $
+
+ 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.
+*/
+#ifndef RCCMONITOR_H__
+#define RCCMONITOR_H__
+
+#include <oxygen/monitorserver/monitorsystem.h>
+#include <oxygen/sceneserver/sceneserver.h>
+#include <oxygen/sceneserver/scene.h>
+#include <oxygen/sceneserver/transform.h>
+#include <kerosin/sceneserver/staticmesh.h>
+#include <kerosin/sceneserver/light.h>
+#include <oxygen/physicsserver/body.h>
+#include <agentstate/agentstate.h>
+
+class RCCMonitor : public oxygen::MonitorSystem
+{
+public:
+ enum ENodeType
+ {
+ NT_BASE = 0,
+ NT_TRANSFORM,
+ NT_STATICMESH,
+ NT_LIGHT,
+ NT_AGENTSTATE
+ };
+
+ struct NodeCache
+ {
+ public:
+ ENodeType type;
+
+ /** the last local transform matrix sent to the client */
+ salt::Matrix transform;
+
+ /** the last values of int types sent to the client */
+ std::map<std::string, int> ints;
+
+ /** the last values of int types sent to the client */
+ std::map<std::string, float> floats;
+
+ /** the last values of string types sent to the client */
+ std::map<std::string, std::string> strings;
+
+ public:
+ NodeCache(ENodeType nt = NT_BASE)
+ : type(nt)
+ {
+ }
+
+ NodeCache(ENodeType nt, const salt::Matrix& t)
+ : type(nt), transform(t)
+ {
+ }
+ };
+
+ typedef std::map<boost::shared_ptr<oxygen::BaseNode>, NodeCache> TNodeCacheMap;
+
+public:
+ RCCMonitor();
+ virtual ~RCCMonitor();
+
+ /** If a monitor sends information to the world model, this
+ * function is called to process it.
+ * @param data data sent from monitor to monitorsystem via SPADES.
+ */
+ void ParseMonitorMessage(const std::string& data);
+
+ /** This function will be called periodically to get information
+ * about the current state of the world.
+ * \param items holds a list of additional name value pairs. These
+ * predicates are collected from MonitorItem objects registered to
+ * the MonitorServer. The monitor should transfer them to the
+ * client if possible.
+ */
+ virtual std::string GetMonitorInfo(const oxygen::PredicateList& pList);
+
+ /** This function is called once for every MonitorSystem each time
+ * a new client connects. It should return any header/setup
+ * information that is needed.
+ * \param items holds a list of additional name value
+ * pairs. These predicates are collected from MonitorItem objects
+ * registered to the MonitorServer. The monitor should transfer
+ * them to the client if possible.
+ */
+ virtual std::string GetMonitorHeaderInfo(const oxygen::PredicateList& pList);
+
+ /** update variables from a script */
+ virtual void UpdateCached();
+
+protected:
+ virtual void OnLink();
+ virtual void OnUnlink();
+
+ void ClearNodeCache();
+
+ /** This function looks the cached node entry in the node
+ cache. The entry is added to the cache if it does not exist
+ */
+ NodeCache* LookupNode(boost::shared_ptr<oxygen::BaseNode> node);
+
+ void DescribeCustomPredicates(std::stringstream& ss,const oxygen::PredicateList& pList);
+ void DescribeActiveScene(std::stringstream& ss);
+ void DescribeScene(std::stringstream& ss,
+ boost::shared_ptr<oxygen::BaseNode> node);
+
+ /** This function writes the s-expression for the given node to
+ the given strinstream, omitting the closing parentheses. It
+ returns false if the node is skipped and no description is
+ created. Skipped nodes are invisible scene graph nodes.
+ */
+ bool DescribeNode(std::stringstream& ss,
+ boost::shared_ptr<oxygen::BaseNode> node);
+ void DescribeBaseNode(std::stringstream& ss);
+ void DescribeTransform(std::stringstream& ss, NodeCache& entry,
+ boost::shared_ptr<oxygen::Transform> transform);
+ void DescribeMesh(std::stringstream& ss,
+ boost::shared_ptr<kerosin::StaticMesh> mesh);
+ void DescribeLight(std::stringstream& ss,
+ boost::shared_ptr<kerosin::Light> light);
+ void DescribeAgentState(std::stringstream& ss, NodeCache& entry,
+ boost::shared_ptr<AgentState>);
+
+protected:
+ /** cached reference to the SceneServer */
+ boost::shared_ptr<oxygen::SceneServer> mSceneServer;
+
+ /** cached reference to the current active scene */
+ boost::shared_ptr<oxygen::Scene> mActiveScene;
+
+ /** true, if the full state is generated */
+ bool mFullState;
+
+ /** cached node type and state */
+ TNodeCacheMap mNodeCache;
+};
+
+DECLARE_CLASS(RCCMonitor);
+
+#endif // RCCMONITOR_H__
+
Added: branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor_c.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor_c.cpp (rev 0)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor_c.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -0,0 +1,29 @@
+/* -*- 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: sparkmonitor_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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 "rccmonitor.h"
+
+void
+CLASS(RCCMonitor)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseParser);
+}
+
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -1300,7 +1300,7 @@
{
if ( (*it)->GetUniformNumber() == number)
{
- (*it)->AddSelfMessage(message);
+ (*it)->AddSelfMessage(message, mGameState->GetTime());
continue;
}
SoccerBase::GetTransformParent(*(*it), transform_parent);
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