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[simspark-svn] SF.net SVN: simspark:[285] trunk
|
From: <sgv...@us...> - 2011-06-23 18:00:56
|
Revision: 285
http://simspark.svn.sourceforge.net/simspark/?rev=285&view=rev
Author: sgvandijk
Date: 2011-06-23 18:00:49 +0000 (Thu, 23 Jun 2011)
Log Message:
-----------
- Can requast full monitor frame from MonitorControl
- Trainer command to request full monitor frame
- Start of RCS3DMonitor (to be able to add RCS3D specific data to monitor data)
- Option in vision perceptor to request ball ground truth
Modified Paths:
--------------
trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
trunk/rcssserver3d/plugin/soccer/export.cpp
trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.h
trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor_c.cpp
trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
trunk/rcssserver3d/rcssmonitor3d/main.cpp
trunk/spark/lib/oxygen/simulationserver/monitorcontrol.cpp
trunk/spark/lib/oxygen/simulationserver/monitorcontrol.h
Added Paths:
-----------
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h
trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp
Modified: trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2011-06-23 18:00:49 UTC (rev 285)
@@ -89,6 +89,7 @@
(nd RestrictedVisionPerceptor
(setViewCones 120 120)
(setSenseMyPos false)
+ (setSenseBallPos false)
(setStaticSenseAxis false)
(addNoise true)
(setInterval 3)
Modified: trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-06-23 18:00:49 UTC (rev 285)
@@ -47,6 +47,7 @@
hmdp_effector/naospecific.h
line/line.h
agentcollisionhandler/agentcollisionhandler.h
+ rcs3dmonitor/rcs3dmonitor.h
)
set(soccer_LIB_SRCS
@@ -123,6 +124,8 @@
line/line_c.cpp
agentcollisionhandler/agentcollisionhandler.cpp
agentcollisionhandler/agentcollisionhandler_c.cpp
+ rcs3dmonitor/rcs3dmonitor.cpp
+ rcs3dmonitor/rcs3dmonitor_c.cpp
)
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${FREETYPE_INCLUDE_DIRS}
Modified: trunk/rcssserver3d/plugin/soccer/export.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/export.cpp 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/plugin/soccer/export.cpp 2011-06-23 18:00:49 UTC (rev 285)
@@ -55,6 +55,7 @@
#include "hmdp_effector/hmdpperceptor.h"
#include "line/line.h"
#include "agentcollisionhandler/agentcollisionhandler.h"
+#include "rcs3dmonitor/rcs3dmonitor.h"
ZEITGEIST_EXPORT_BEGIN()
ZEITGEIST_EXPORT(SoccerControlAspect);
@@ -92,5 +93,6 @@
ZEITGEIST_EXPORT(HMDPEffector);
ZEITGEIST_EXPORT(Line);
ZEITGEIST_EXPORT(AgentCollisionHandler);
+ ZEITGEIST_EXPORT(RCS3DMonitor);
ZEITGEIST_EXPORT_END()
Added: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp 2011-06-23 18:00:49 UTC (rev 285)
@@ -0,0 +1,459 @@
+/* -*- 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: RCS3DMonitor.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 "rcs3dmonitor.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;
+
+RCS3DMonitor::RCS3DMonitor() : oxygen::MonitorSystem()
+{
+ mFullState = true;
+}
+
+RCS3DMonitor::~RCS3DMonitor()
+{
+}
+
+void RCS3DMonitor::ClearNodeCache()
+{
+ mNodeCache.clear();
+}
+
+void RCS3DMonitor::UpdateCached()
+{
+ MonitorSystem::UpdateCached();
+ ClearNodeCache();
+}
+
+void RCS3DMonitor::OnLink()
+{
+ // setup SceneServer reference
+ mSceneServer = shared_dynamic_cast<SceneServer>
+ (GetCore()->Get("/sys/server/scene"));
+
+ if (mSceneServer.get() == 0)
+ {
+ GetLog()->Error()
+ << "(RCS3DMonitor) ERROR: SceneServer not found\n";
+ }
+}
+
+void RCS3DMonitor::OnUnlink()
+{
+ mSceneServer.reset();
+ mActiveScene.reset();
+ ClearNodeCache();
+}
+
+void RCS3DMonitor::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 RCS3DMonitor::GetMonitorInfo(const PredicateList& pList)
+{
+ stringstream ss;
+ mFullState = false;
+ DescribeCustomPredicates(ss,pList);
+ DescribeActiveScene(ss);
+
+ return ss.str();
+}
+
+string RCS3DMonitor::GetMonitorHeaderInfo(const PredicateList& pList)
+{
+ stringstream ss;
+ mFullState = true;
+ ClearNodeCache();
+ DescribeCustomPredicates(ss,pList);
+ DescribeActiveScene(ss);
+
+ return ss.str();
+}
+
+void RCS3DMonitor::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 RCS3DMonitor::DescribeBall(stringstream& ss, NodeCache& entry, boost::shared_ptr<Ball> ball)
+{
+ if (mFullState)
+ {
+ ss << "(nd Ball";
+ } else
+ {
+ ss << "(nd";
+ }
+
+ DescribeTransform(ss, entry, boost::shared_static_cast<Transform>(ball), false);
+}
+
+void RCS3DMonitor::DescribeBaseNode(stringstream& ss)
+{
+ if (mFullState)
+ {
+ ss << "(nd BN";
+ } else
+ {
+ ss << "(nd";
+ }
+}
+
+void RCS3DMonitor::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 RCS3DMonitor::DescribeTransform(stringstream& ss, NodeCache& entry, boost::shared_ptr<Transform> transform, bool prefix)
+{
+ if (prefix)
+ 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 RCS3DMonitor::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<<')';
+ }
+ }
+}
+
+RCS3DMonitor::NodeCache* RCS3DMonitor::LookupNode(boost::shared_ptr<BaseNode> node)
+{
+ if (node.get() == 0)
+ {
+ assert(false);
+ return 0;
+ }
+
+ // Check whether we already have this node in cache
+ TNodeCacheMap::iterator iter = mNodeCache.find(node);
+ if (iter != mNodeCache.end())
+ {
+ return &((*iter).second);
+ }
+
+ // Ball
+ boost::shared_ptr<Ball> ball
+ = shared_dynamic_cast<Ball>(node);
+ if (ball.get() != 0)
+ {
+ mNodeCache[node]
+ = NodeCache(NT_BALL, ball->GetLocalTransform());
+
+ return &(mNodeCache[node]);
+ }
+
+ // Transform
+ 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]);
+ }
+
+ // treat every other node type as a BaseNode
+ mNodeCache[node] = NodeCache(NT_BASE);
+
+ return &(mNodeCache[node]);
+}
+
+bool RCS3DMonitor::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_BALL:
+ DescribeBall
+ (ss, (*entry), shared_static_cast<Ball>(node));
+
+ 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;
+ }
+}
+
+void RCS3DMonitor::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 RCS3DMonitor::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: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.h 2011-06-23 18:00:49 UTC (rev 285)
@@ -0,0 +1,150 @@
+/* -*- 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 RCS3DMONITOR_H__
+#define RCS3DMONITOR_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 "../ball/ball.h"
+
+class RCS3DMonitor : public oxygen::MonitorSystem
+{
+public:
+ enum ENodeType
+ {
+ NT_BASE = 0,
+ NT_TRANSFORM,
+ NT_STATICMESH,
+ NT_LIGHT,
+ NT_BALL
+ };
+
+ struct NodeCache
+ {
+ public:
+ ENodeType type;
+
+ /** the last local transform matrix sent to the client */
+ salt::Matrix transform;
+
+ 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:
+ RCS3DMonitor();
+ virtual ~RCS3DMonitor();
+
+ /** 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 DescribeBall(std::stringstream& ss, NodeCache& entry,
+ boost::shared_ptr<Ball> ball);
+ void DescribeTransform(std::stringstream& ss, NodeCache& entry,
+ boost::shared_ptr<oxygen::Transform> transform, bool prefix = true);
+ void DescribeMesh(std::stringstream& ss,
+ boost::shared_ptr<kerosin::StaticMesh> mesh);
+ void DescribeLight(std::stringstream& ss,
+ boost::shared_ptr<kerosin::Light> light);
+
+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(RCS3DMonitor);
+
+#endif // RCS3DMONITOR_H__
+
Added: trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor_c.cpp 2011-06-23 18:00:49 UTC (rev 285)
@@ -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 "rcs3dmonitor.h"
+
+void
+CLASS(RCS3DMonitor)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseParser);
+}
+
Modified: trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp 2011-06-23 18:00:49 UTC (rev 285)
@@ -38,6 +38,7 @@
RestrictedVisionPerceptor::RestrictedVisionPerceptor() : Perceptor(),
mSenseMyPos(false),
+ mSenseBallPos(false),
mAddNoise(true),
mStaticSenseAxis(true),
mSenseLine(false)
@@ -460,6 +461,21 @@
element.AddValue(sensedMyPos[2]);
}
+ if (mSenseBallPos)
+ {
+ TTeamIndex ti = mAgentState->GetTeamIndex();
+ boost::shared_ptr<Ball> ball;
+ SoccerBase::GetBall(*this, ball);
+ Vector3f sensedBallPos = SoccerBase::FlipView(ball->GetWorldTransform().Pos(), ti);
+
+ ParameterList& element = predicate.parameter.AddList();
+ element.AddValue(std::string("ballpos"));
+ element.AddValue(sensedBallPos[0]);
+ element.AddValue(sensedBallPos[1]);
+ element.AddValue(sensedBallPos[2]);
+
+ }
+
if (mSenseLine)
{
SenseLine(predicate);
@@ -562,6 +578,21 @@
element.AddValue(sensedMyPos[2]);
}
+ if (mSenseBallPos)
+ {
+ TTeamIndex ti = mAgentState->GetTeamIndex();
+ boost::shared_ptr<Ball> ball;
+ SoccerBase::GetBall(*this, ball);
+ Vector3f sensedBallPos = SoccerBase::FlipView(ball->GetWorldTransform().Pos(), ti);
+
+ ParameterList& element = predicate.parameter.AddList();
+ element.AddValue(std::string("ballpos"));
+ element.AddValue(sensedBallPos[0]);
+ element.AddValue(sensedBallPos[1]);
+ element.AddValue(sensedBallPos[2]);
+
+ }
+
if (mSenseLine)
{
SenseLine(predicate);
@@ -633,6 +664,12 @@
mSenseMyPos = sense;
}
+void
+RestrictedVisionPerceptor::SetSenseBallPos(bool sense)
+{
+ mSenseBallPos = sense;
+}
+
bool RestrictedVisionPerceptor::CheckVisuable(RestrictedVisionPerceptor::ObjectData& od) const
{
// theta is the angle in horizontal plane, with fwAngle as 0 degree
Modified: trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.h 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.h 2011-06-23 18:00:49 UTC (rev 285)
@@ -30,6 +30,7 @@
#include <oxygen/agentaspect/agentaspect.h>
#include <agentstate/agentstate.h>
#include "../line/line.h"
+#include "../ball/ball.h"
class RestrictedVisionPerceptor : public oxygen::Perceptor
{
@@ -104,6 +105,9 @@
//! Turn sensing of agent position on/off
void SetSenseMyPos(bool sense);
+ //! Turn sensing of agent position on/off
+ void SetSenseBallPos(bool sense);
+
// turn sensing of lines on/off
void SetSenseLine(bool sense);
@@ -207,6 +211,9 @@
//! true, if the absolute position of the agent is sensed.
bool mSenseMyPos;
+
+ //! true, if the absolute position of the ball is sensed.
+ bool mSenseBallPos;
//! sigma for random measurement error (distance)
float mSigmaDist;
Modified: trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor_c.cpp 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor_c.cpp 2011-06-23 18:00:49 UTC (rev 285)
@@ -80,6 +80,22 @@
return true;
}
+FUNCTION(RestrictedVisionPerceptor,setSenseBallPos)
+{
+ bool inSenseBallPos;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in.begin(),inSenseBallPos))
+ )
+ {
+ return false;
+ }
+
+ obj->SetSenseBallPos(inSenseBallPos);
+ return true;
+}
+
FUNCTION(RestrictedVisionPerceptor,setStaticSenseAxis)
{
bool inStaticAxis;
@@ -172,6 +188,7 @@
DEFINE_FUNCTION(setNoiseParams);
DEFINE_FUNCTION(addNoise);
DEFINE_FUNCTION(setSenseMyPos);
+ DEFINE_FUNCTION(setSenseBallPos);
DEFINE_FUNCTION(setStaticSenseAxis);
DEFINE_FUNCTION(setViewCones);
DEFINE_FUNCTION(setPanRange);
Modified: trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2011-06-23 18:00:49 UTC (rev 285)
@@ -51,6 +51,8 @@
mCommandMap["kill"] = CT_KILL;
mCommandMap["repos"] = CT_REPOS;
mCommandMap["killsim"] = CT_KILLSIM;
+ mCommandMap["reqfullstate"] = CT_REQFULLSTATE;
+
// setup team index map
// Originally team sides were "L","R" and "N"
// But this seems to be unused
@@ -128,7 +130,13 @@
GetLog()->Error() << "ERROR: (TrainerCommandParser) Unable to get SimulationServer\n";
}
-
+ mMonitorControl = shared_dynamic_cast<MonitorControl>
+ (mSimServer->GetControlNode("MonitorControl"));
+
+ if (mMonitorControl.get() == 0)
+ {
+ GetLog()->Error() << "ERROR: (TrainerCommandParser) Unable to get MonitorControl\n";
+ }
}
void TrainerCommandParser::OnUnlink()
@@ -224,6 +232,10 @@
case CT_KILLSIM:
ParseKillSimCommand(predicate);
break;
+ case CT_REQFULLSTATE:
+ mMonitorControl->RequestFullState();
+ break;
+
default:
return false;
}
Modified: trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2011-06-23 18:00:49 UTC (rev 285)
@@ -33,6 +33,7 @@
#include <soccertypes.h>
#include <soccerruleaspect/soccerruleaspect.h>
#include <oxygen/simulationserver/simulationserver.h>
+#include <oxygen/simulationserver/monitorcontrol.h>
namespace oxygen
{
@@ -54,7 +55,8 @@
CT_SELECT,
CT_KILL,
CT_REPOS,
- CT_KILLSIM
+ CT_KILLSIM,
+ CT_REQFULLSTATE
};
typedef std::map<std::string, ECommandType> TCommandMap;
@@ -148,6 +150,8 @@
boost::shared_ptr<oxygen::GameControlServer> mGameControl;
//! cached reference to the simulation server
boost::shared_ptr<oxygen::SimulationServer> mSimServer;
+ //! cahced reference to the monitor control node
+ boost::shared_ptr<oxygen::MonitorControl> mMonitorControl;
bool mGetAck;
std::string mAckString;
Modified: trunk/rcssserver3d/rcssmonitor3d/main.cpp
===================================================================
--- trunk/rcssserver3d/rcssmonitor3d/main.cpp 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/rcssserver3d/rcssmonitor3d/main.cpp 2011-06-23 18:00:49 UTC (rev 285)
@@ -121,6 +121,17 @@
GetScriptServer()->Eval(serverIPStr);
}
}
+ else if (strcmp(argv[i], "--server-port") == 0)
+ {
+ i++;
+ if (i < argc)
+ GetScriptServer()->Eval(string("$monitorPort = ") + argv[i]);
+ else
+ {
+ PrintHelp();
+ return false;
+ }
+ }
}
return true;
Modified: trunk/spark/lib/oxygen/simulationserver/monitorcontrol.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/monitorcontrol.cpp 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/spark/lib/oxygen/simulationserver/monitorcontrol.cpp 2011-06-23 18:00:49 UTC (rev 285)
@@ -158,3 +158,8 @@
}
}
}
+
+void MonitorControl::RequestFullState()
+{
+ mFullStateLogged--;
+}
Modified: trunk/spark/lib/oxygen/simulationserver/monitorcontrol.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/monitorcontrol.h 2011-06-06 10:23:16 UTC (rev 284)
+++ trunk/spark/lib/oxygen/simulationserver/monitorcontrol.h 2011-06-23 18:00:49 UTC (rev 285)
@@ -54,6 +54,9 @@
/** sets the monitor update interval in cycles */
void SetMonitorInterval(int i);
+ /** Request that next update gives the full state */
+ void RequestFullState();
+
protected:
virtual void OnLink();
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