[simspark-svn] SF.net SVN: simspark:[349] trunk/rcssserver3d

[<he...@us...>]

Revision: 349
          http://simspark.svn.sourceforge.net/simspark/?rev=349&view=rev
Author:   hedayat
Date:     2013-04-24 20:11:40 +0000 (Wed, 24 Apr 2013)
Log Message:
-----------
Add heterogeneous robot type to AgentState, so that it can be checked by rules. 

Modified Paths:
--------------
    trunk/rcssserver3d/ChangeLog
    trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg
    trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
    trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h
    trunk/rcssserver3d/plugin/soccer/agentstate/agentstate_c.cpp

Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog	2013-04-12 09:04:57 UTC (rev 348)
+++ trunk/rcssserver3d/ChangeLog	2013-04-24 20:11:40 UTC (rev 349)
@@ -1,3 +1,11 @@
+2013-04-25  Hedayat Vatankhah  <hed...@gm...>
+
+	* data/rsg/agent/nao/nao_hetero.rsg: 
+	* plugin/soccer/agentstate/agentstate.h: 
+	* plugin/soccer/agentstate/agentstate.cpp: 
+	* plugin/soccer/agentstate/agentstate_c.cpp: 
+	- added robot type to agent state
+
 2012-11-25  Hedayat Vatankhah  <hed...@gm...>
 
 	* data/rsg/agent/nao/nao_hetero.rsg: 

Modified: trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg	2013-04-12 09:04:57 UTC (rev 348)
+++ trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg	2013-04-24 20:11:40 UTC (rev 349)
@@ -70,6 +70,7 @@
         
         (nd AgentState
             (setName AgentState)
+            (setRobotType $type)
             (nd GameStatePerceptor)
             (nd HearPerceptor)
             (nd Transform

Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp	2013-04-12 09:04:57 UTC (rev 348)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp	2013-04-24 20:11:40 UTC (rev 349)
@@ -76,6 +76,18 @@
 }
 
 void
+AgentState::SetRobotType(int type)
+{
+    mRobotType = type;
+}
+
+int
+AgentState::GetRobotType() const
+{
+    return mRobotType;
+}
+
+void
 AgentState::SetID(const std::string& id, TPerceptType pt)
 {
     std::istringstream iss(id);
@@ -238,7 +250,7 @@
       GetLog()->Error() << "ERROR: (AgentState::OnUnlink) could not get game state\n";
       return;
     }
-    
+
     game_state->ReturnUniform(GetTeamIndex(), GetUniformNumber());
 }
 

Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h	2013-04-12 09:04:57 UTC (rev 348)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h	2013-04-24 20:11:40 UTC (rev 349)
@@ -59,6 +59,12 @@
     /** returns the uniform number as integer */
     int GetUniformNumber() const;
 
+    /** Set the robot type. */
+    void SetRobotType(int type);
+
+    /** returns the robot type */
+    int GetRobotType() const;
+
     /** Set the object id for perceptors.
      *
      * This method is the same as SetUniformNumber for AgentState.
@@ -97,25 +103,25 @@
 
     /** Whether agent is selected */
     bool IsSelected() const;
-    
+
     /** Select agent */
     void Select(bool s = true);
-    
+
     /** Unselect agent */
     void UnSelect();
-    
+
     /** Backup old touch group and create new empty one */
     void NewTouchGroup();
-    
+
     /** Get the touch group of the previous step */
     boost::shared_ptr<TouchGroup> GetOldTouchGroup();
-    
+
     /** Get the current touch group */
     boost::shared_ptr<TouchGroup> GetTouchGroup();
-    
+
     /** Set the current touch group */
     void SetTouchGroup(boost::shared_ptr<TouchGroup> group);
-    
+
 protected:
     /** team index */
     TTeamIndex mTeamIndex;
@@ -123,6 +129,9 @@
     /** uniform number */
     int mUniformNumber;
 
+    /** robot type */
+    int mRobotType;
+
     /** motor temperature */
     float mTemperature;
 
@@ -161,7 +170,7 @@
 
     /** is this agent selected */
     bool mSelected;
-    
+
     boost::shared_ptr<TouchGroup> mOldTouchGroup;
     boost::shared_ptr<TouchGroup> mTouchGroup;
 

Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate_c.cpp	2013-04-12 09:04:57 UTC (rev 348)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate_c.cpp	2013-04-24 20:11:40 UTC (rev 349)
@@ -25,8 +25,25 @@
 using namespace boost;
 using namespace oxygen;
 
+FUNCTION(AgentState,setRobotType)
+{
+    int inType;
+
+    if (
+        (in.GetSize() != 1) ||
+        (! in.GetValue(in.begin(), inType))
+        )
+        {
+            return false;
+        }
+
+    obj->SetRobotType(inType);
+    return true;
+}
+
 void
 CLASS(AgentState)::DefineClass()
 {
     DEFINE_BASECLASS(ObjectState);
+    DEFINE_FUNCTION(setRobotType);
 }

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