[simspark-cvs] simspark/spark/oxygen/spadesserver paramreader.cpp,NONE,1.1 paramreader.h,NONE,1.1 pa

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Update of /cvsroot/simspark/simspark/spark/oxygen/spadesserver
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15620/spadesserver

Added Files:
	paramreader.cpp paramreader.h paramreader_c.cpp 
	paramstorer.cpp paramstorer.h spadesactevent.cpp 
	spadesactevent.h spadescreatesenseevent.cpp 
	spadescreatesenseevent.h spadesserver.cpp spadesserver.h 
	spadesserver_c.cpp 
Log Message:

--- NEW FILE: spadescreatesenseevent.h ---
/* -*- 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: spadescreatesenseevent.h,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 OXYGEN_SPADESCREATESENSEEVENT_H
#define OXYGEN_SPADESCREATESENSEEVENT_H

#include <spades/CreateSenseEvent.hpp>

namespace oxygen
{
#if 0
}
#endif

/** SpadesCreateSenseEvent implements the spades::CreateSenseEvent
    interface. It's purpose is to create a SenseEvent and to schedule
    it's successor SpadesCreateEvent.

    A note about the implementation: SpadesCreateSenseEvent uses the
    SpadesServer and the GameControlServer to do it's job. However it
    cannot be zeitgeist class, as this involves that the
    corresponding class object holds a shared pointer to every
    instance of this class.

    However spades is not aware of these shared pointers and destructs
    a registered ParamStorer instance using delete without notifying
    the shared pointers. This would result in dangling references.
*/
class SpadesCreateSenseEvent : public spades::CreateSenseEvent
{
 public:
  SpadesCreateSenseEvent (spades::SimTime t, spades::AgentID a)
    : CreateSenseEvent (t, a) {}

  virtual ~SpadesCreateSenseEvent () {}

  virtual void Print (std::ostream & o) const;
  virtual bool realizeEventWorldModel(spades::WorldModel* pWM);

  virtual spades::SenseEvent* createSense(spades::WorldModel* p);
};

} // namespace oxygen

#endif // OXYGEN_SPADESCREATESENSEEVENT_H

--- NEW FILE: spadescreatesenseevent.cpp ---
/* -*- 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: spadescreatesenseevent.cpp,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 "spadescreatesenseevent.h"
#include "spadesserver.h"
#include <spades/SenseEvent.hpp>
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/agentaspect/agentaspect.h>
#include <oxygen/gamecontrolserver/gamecontrolserver.h>
#include <oxygen/gamecontrolserver/baseparser.h>

using namespace oxygen;
using namespace spades;
using namespace std;
using namespace boost;

void SpadesCreateSenseEvent::Print (std::ostream & o) const
{
    o << "SpadesCreateSenseEvent(" << getTime () << ") for " << getAgent();
}

bool SpadesCreateSenseEvent::realizeEventWorldModel(spades::WorldModel* pWM)
{
    // we can't create a shared_ptr to the SpadesServer here, as this
    // shared_ptr wouldn't know of other shared_ptrs to the
    // SpadesServer
    SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(pWM);

    if (spadesServer == 0)
        {
            // we can't use the LogServer here :(
            return false;
        }

    shared_ptr<GameControlServer> gcs(spadesServer->GetGameControlServer());

    if (gcs.get() == 0)
        {
            spadesServer->GetLog()->Error()
                << "(SpadesCreateSenseEvent) GameControlServer not found.\n";
            return false;
        }

    // query the game control server for the time until the next
    // SpadesCreateSenseInterval should be realized. The gameControlServer
    // returns this time in seconds
    float deltaSense = gcs->GetSenseInterval(static_cast<int>(getAgent()));

    // calculate the corresponding amount of time steps
    int senseInterval = static_cast<int>(deltaSense / spadesServer->GetTimePerStep());

    // schedule the next CreateSenseEvent
    SimEngine* simEngine = spadesServer->GetSimEngine();
    if (simEngine == 0)
        {
            spadesServer->GetLog()->Error()
                << "(SpadesCreateSenseEvent) spades SimEngine not found.\n";
            return false;
        }

    SpadesCreateSenseEvent* event = new SpadesCreateSenseEvent
        (getTime() + senseInterval, getAgent());

    simEngine->enqueueEvent(event);

    return true;
}

spades::SenseEvent* SpadesCreateSenseEvent::createSense(spades::WorldModel* p)
{
    SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(p);
    if (spadesServer == 0)
        {
            return 0;
        }

    shared_ptr<GameControlServer> gcs(spadesServer->GetGameControlServer());
    if (gcs.get() == 0)
        {
            spadesServer->GetLog()->Error()
                << "(SpadesCreateSenseEvent) GameControlServer not found.\n";
            return 0;
        }

    shared_ptr<BaseParser> parser = gcs->GetParser();
    if (parser.get() == 0)
        {
            spadesServer->GetLog()->Error()
                << "ERROR: (SpadesCreateSenseEvent) got no parser from "
                << " the GameControlServer" << endl;
            return 0;
        }

    // lookup the AgentAspect
    int id = getAgent();
    shared_ptr<AgentAspect> agent = gcs->GetAgentAspect(id);

    if (agent.get() == 0)
        {
            spadesServer->GetLog()->Error()
                << "ERROR: (SpadesCreateSenseEvent) got no AgentAspect for id "
                << id << " from the GameControlServer" << endl;
            return 0;
        }

    // get a list of senses from the agent and generate a string
    // describing them
    shared_ptr<PredicateList> senseList = agent->QueryPerceptors();
    std::string senses = parser->Generate(senseList);

    // create the sense event
    float senseDelay = gcs->GetSenseLatency(getAgent());

    SimTime senseArriveTime =
        getTime() +
        static_cast<int>(senseDelay / spadesServer->GetTimePerStep());

    //
    // what's the correct value for ttype here ?
    // (see spades/shared/sharedtypes.hpp)
    //
    ThinkingType ttype = TT_Regular;

    SenseEvent* event = new SenseEvent
        (ttype, getTime(), senseArriveTime, getAgent());

    event->setData(senses);

    return event;
}

--- NEW FILE: paramreader_c.cpp ---
/* -*- mode: c++ -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2003 Koblenz University
   $Id: paramreader_c.cpp,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 "paramreader.h"

using namespace oxygen;

void CLASS(ParamReader)::DefineClass()
{
    DEFINE_BASECLASS(zeitgeist/Node);
}

--- NEW FILE: paramstorer.cpp ---
/* -*- 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: paramstorer.cpp,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 "paramstorer.h"

using namespace oxygen;

int
ParamStorer::readCmdLineArgs(const std::string& key,
                             int argc, const char* const* argv)
{
    if (mParamReader != NULL)
        {
            return mParamReader->readCmdLineArgs(key,argc,argv);
        }

    return 0;
}

--- NEW FILE: paramstorer.h ---
/* -*- 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: paramstorer.h,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 OXYGEN_PARAMSTORER_H__
#define OXYGEN_PARAMSTORER_H__

#include "paramreader.h"
#include <spades/ParamReader.hpp>

namespace oxygen
{

/** This class implements the spades::ParamReader::ParamStorer
    interface. It's purpose is to enable the user to set ruby
    variables using the command line.

    A note about the implementation: ParamStorer uses the ParamReader
    class to do the real parsing. This has the following reason.

    In order to access the ScriptServer to modify ruby variables the
    ParamStorer must be a ZeitGeist class. This involves that the
    corresponding class object holds a shared pointer to every
    instance of this class.

    However spades is not aware of these shared pointers and destructs
    a registered ParamStorer instance using delete without notifying
    the shared pointers. This would result in dangling references.

    In order to play well with spades this class is not derived from
    Zeitgeist::object. In order to access the ScriptServer this class
    uses the ParamReader instance.
*/
class ParamStorer : public spades::ParamReader::ParamStorer
{
public:
    ParamStorer(oxygen::ParamReader* paramReader) :
        spades::ParamReader::ParamStorer(), mParamReader(paramReader) {}

    virtual int readArgsFrom(const std::string& /*key*/, const char* /*fileid*/,
                             const char* /*path*/, std::istream& /*is*/,
                             bool /*have_argument*/)
    {
        // we read nothing from any files
        return RR_None;
    }

    virtual void print(std::ostream& /*o*/) const
    {
        // no output
    }

    // returns the number of args processed
    // otherwise see the RR_ values above
    virtual int readCmdLineArgs(const std::string& key,
                                int argc, const char* const* argv);

protected:
    /** The ParamReader we use to do the parsing */
    oxygen::ParamReader* mParamReader;
};

} // namespace oxygen
#endif // OXYGEN_PARAMSTORER_H__

--- NEW FILE: spadesactevent.h ---
/* -*- 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: spadesactevent.h,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 OXYGEN_SPADESACTEVENT_H
#define OXYGEN_SPADESACTEVENT_H

#include <spades/ActEvent.hpp>
#include <oxygen/gamecontrolserver/actionobject.h>

namespace oxygen
{
#if 0
}
#endif

class SpadesActEvent : public spades::ActEvent
{
 public:

  SpadesActEvent
    (
     spades::SimTime t, spades::AgentID a,
     boost::shared_ptr<ActionObject::TList> actionList
     ) : spades::ActEvent(t, a), mActionList(actionList) {};

  virtual ~SpadesActEvent (){}

  virtual void Print (std::ostream & o) const;

  /** realizes the stored list of ActionObjects. As a sanity check it
      returns whether the world model did anything with this event. In
      our case always true.
  */
  virtual bool realizeEventWorldModel(spades::WorldModel* pWM);

 protected:
  boost::shared_ptr<ActionObject::TList> mActionList;
};

} // namespace oxygen

#endif // OXYGEN_SPADESACTEVENT_H

--- NEW FILE: paramreader.h ---
/* -*- 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: paramreader.h,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 OXYGEN_PARAMETERREADER_H
#define OXYGEN_PARAMETERREADER_H

#include <zeitgeist/class.h>
#include <zeitgeist/leaf.h>
#include <spades/EngineParam.hpp>

namespace oxygen
{

/*!
 */
class ParamReader :
        public zeitgeist::Leaf,
        public spades::EngineParam
{
public:
    ParamReader();

    /** returns the number of args processed otherwise see the spades
        RR_values. This method is called from within the ParamStorer.
    */
     int readCmdLineArgs(const std::string& key,
                                int argc, const char* const* argv);
};

DECLARE_CLASS(ParamReader);

} // namespace oxygen

#endif // OXYGEN_PARAMETERREADER_H

--- NEW FILE: spadesserver_c.cpp ---
/* -*- 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: spadesserver_c.cpp,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 "spadesserver.h"

using namespace oxygen;
using namespace std;

FUNCTION(SpadesServer,queueAgents)
{
    string inAgentType;
    int inNum;

    if (
        (in.GetSize() != 2) ||
        (! in.GetValue(in[0],inAgentType)) ||
        (! in.GetValue(in[1],inNum))
        )
        {
            return false;
        }

    obj->QueueAgents(inAgentType,inNum);
    return true;
}

void CLASS(SpadesServer)::DefineClass()
{
    DEFINE_BASECLASS(zeitgeist/Node);
    DEFINE_FUNCTION(queueAgents);
}

--- NEW FILE: paramreader.cpp ---
/* -*- 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: paramreader.cpp,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 "paramreader.h"
#include "paramstorer.h"
#include <zeitgeist/logserver/logserver.h>
#include <zeitgeist/scriptserver/scriptserver.h>
#include <sstream>

using namespace zeitgeist;
using namespace oxygen;
using namespace boost;
using namespace std;

ParamReader::ParamReader()
  : zeitgeist::Leaf(), spades::EngineParam()
{
  addParamStorer(new oxygen::ParamStorer(this));
}

int ParamReader::readCmdLineArgs(const std::string& key,
                                 int argc, const char* const* argv)
{
    // lookup the ScriptServer
    if (argc < 2)
        {
            return spades::ParamReader::ParamStorer::RR_None;
        }

    // check if varName is valid
    if (! GetScript()->ExistsVariable(key))
        {
            GetLog()->Warning() << "WARNING: (ParamReader) Unknown variable '" << key << "'\n";
            return spades::ParamReader::ParamStorer::RR_FormatErr;
        }

    // take next as the value
    std::string value = * (argv + 1);

    // eval "<key> = <value>" using ruby
    stringstream ss;
    ss << key << "=" << value;

    if (GetScript()->Eval(ss.str()))
        {
            GetLog()->Normal() << "(ParamReader) set '" << key
                                << "' to " << value << "\n";
        }

    return 1;
}

--- NEW FILE: spadesactevent.cpp ---
/* -*- 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: spadesactevent.cpp,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 "spadesactevent.h"
#include "spadesserver.h"
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/gamecontrolserver/gamecontrolserver.h>
#include <oxygen/agentaspect/agentaspect.h>

using namespace oxygen;
using namespace zeitgeist;
using namespace boost;
using namespace std;

void SpadesActEvent::Print (std::ostream & /*o*/) const
{
}

bool SpadesActEvent::realizeEventWorldModel(spades::WorldModel* pWM)
{
  // we can't create a shared_ptr to the SpadesServer here, as this
  // shared_ptr wouldn't know of other shared_ptrs to the
  // SpadesServer
  SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(pWM);

  if (spadesServer == NULL)
        {
          // we can't use the LogServer here :(
          return false;
        }

  shared_ptr<GameControlServer> gcs = spadesServer->GetGameControlServer();
  if (gcs.get() == 0)
      {
          spadesServer->GetLog()->Error()
              << "(SpadesActEvent) GameControlServer not found." << endl;
          return false;
      }

  // lookup the AgentAspect
  int id = getAgent();
  shared_ptr<AgentAspect> agent = gcs->GetAgentAspect(id);

  if (agent.get() == 0)
      {
          spadesServer->GetLog()->Warning()
              << "ERROR: (SpadesActEvent) no AgentAspect for id " << id
              << "found." << endl;
          return false;
      }

  // realize the stored actions
  agent->RealizeActions(mActionList);

  // indicate that we 'did something' with the event
  return true;
}

--- NEW FILE: spadesserver.h ---
/* -*- 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: spadesserver.h,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 OXYGEN_SPADESSERVER_H
#define OXYGEN_SPADESSERVER_H

#include <spades/enginemain.hpp>
#include <spades/SimEngine.hpp>
#include <zeitgeist/class.h>
#include <zeitgeist/node.h>
#include "paramreader.h"
#include <queue>

namespace oxygen
{
class GameControlServer;
class MonitorServer;
class SceneServer;

/*! The SpadesServer serves as an interface between the SceneServer and the agents
 */
class SpadesServer :
        public zeitgeist::Node,
        public spades::WorldModel
{
public:
    SpadesServer();
    ~SpadesServer();

    // Methods starting with small letters are SPADES interface methods.
    // Methods with a initial capital letter are additional methods needed
    // for the zeitgeist framework.

    /** setup script variables used to customize the SpadesServer
     */
    virtual bool ConstructInternal();

    /** set up GameControlServer and MonitorServer reference */
    virtual void OnLink();

    /** reset GameControlServer and MonitorServer reference */
    virtual void OnUnlink();

    /** helper function to locate the game control server */
    boost::shared_ptr<GameControlServer> GetGameControlServer() const;

    /** returns the amount of time in seconds a single simulation step
        corresponds to.
    */
    float GetTimePerStep() const;

    /** Get the value of the Spades.RunIntegratedCommserver variable.
     * \return true if the variable is set to true, false otherwise.
     */
    bool GetRunIntegratedCommserver() const;

    /** Get the value of the Spades.CommServersWanted variable. On
        startup SpadesServer will wait until at least
        'CommServersWanted' CommServers have connected before it
        initially unpauses the simulation.
     */
    int GetCommServersWanted() const;

    /** Get the value of the Spades.MonitorInterval variable.
     * \return the number of simulation steps per monitor message.
     */
    int GetMonitorInterval() const;

    /** Get the value of the Spades.SendAgentThinkTimes variable. */
    bool GetSendAgentThinkTimes() const;

    /** queue up agents to be started.
        \param agentType agent type to be found in the SPADES agent database.
        \param num number of agents to be started of the given type.
    */
    void QueueAgents(const std::string& agentType="default", int num=1);

    /** set simulation mode to normal */
    void Unpause();

    /** update cached variables */
    virtual void UpdateCached();

    // ----------------------------------------------------------------------
    // SPADES interface methods start here

    /** You probably want to inherit some parameters from EngineParam
       and use that to parse the commandline. See the ParamReader
       class. */
    spades::EngineParam* parseParameters(int argc, const char* const *argv);

    /** Most of the real initialization/finalization work should be
     * done here.  We do this so that the SimEngine can initialize
     * after this class is created.
     *
     * @param pSE a pointer to the spades simulation engine
     * @return true
     */
    bool initialize(spades::SimEngine* pSE);

    /** returns a pointer to the spades simulation engine */
    spades::SimEngine* GetSimEngine();

    /** @return true */
    bool finalize();

    /** This function should advance the world forward. Events can be
     *  enqueed from this function. The time does *not* have to
     *  advance all the way to the time_desired, and if you put events
     *  in the queue, you should not advance past the time of those
     *  events. The simulation time here is an integer type, so the
     *  SpadesServer has to know how big a simulation step is.
     *
     *  @param time_curr the current simulation step
     *  @param time_desired the desired simulation step
     *  @return a new simulation time t (time_curr <= t <= time_desired)
     */
    spades::SimTime
    simToTime(spades::SimTime time_curr, spades::SimTime time_desired);

    /**  Monitors are programs that can open up a connection to the
     *  engine and get periodic updates about the state of the
     *  world. These next three functions support this.
     */

    /** This function is called once for every monitor. It should
     *  return any header/setup information that is needed.
     */
    spades::DataArray getMonitorHeaderInfo();

    /** This function will be called periodically to get information
     * about the current state of the world. The format is completely
     * determined by what the monitors will expect; no processing is
     * done by the simulation engine
     */
    spades::DataArray getMonitorInfo(spades::SimTime time);

    /** If a monitor sends information to the world model, this
     * function is called to process it. Note that only the data
     * section of the message (not the ID part which indicates that it
     * is a message for the world model and not the simulation engine)
     * is included here. If you need to keep the data, you must copy
     * it
     */
    void parseMonitorMessage(const char* data, unsigned datalen);

    /** There is a latency (in simulation time) between when an action
     * is sent by the agent and when it takes effect. This function
     * needs to return the minimum of all possible values of that
     * latency. This is used to reason about causality
     */
    spades::SimTime getMinActionLatency() const;

    /** Similar to getMinActionLatency, but the latency between when
     *  the sensation is generated from the world and when it is
     *  received by the agent
     */
    spades::SimTime getMinSenseLatency() const;

    /** This function parses the action string received from the
     *  agents Note that this method is const! parsing the act can
     *  *not* affect the world at all, since this could then violate
     *  causality.  Also, at some point this functionality may be
     *  moved to the communication server (which manages communication
     *  with the agents)
     */
    spades::ActEvent*
    parseAct(spades::SimTime t, spades::AgentID a, const char* data, unsigned datalen) const;

    /** When the simulation is paused, this is called peridically At
     *  some point, this function should unpause the simulation The
     *  simulation starts out in paused mode
     */
    void pauseModeCallback();

    /** The world model initiates startup requests for agents. This
     *  function is called once the agent has been started
     *  successfully
     */
    bool agentConnect(spades::AgentID agent, spades::AgentTypeDB::AgentTypeConstIterator at);

    /** Any time an agent leaves the simulation (whether by crash,
     *  graceful exit request, etc.), this function is called so that
     *  the world model can update it's data structures
     */
    bool agentDisappear(spades::AgentID agent, spades::AgentLostReason reason);

    /** Called every time a comm server connects. Usually, this can be
     *  ignored as the WorldModel does not need to know when and how
     *  many commservers connect, unless it wants to do it's own load
     *  balancing
     */
    void notifyCommserverConnect(spades::ServerID s);

    /** Called every time a comm server dsiconnects. Usually, this can
     *  be ignored as the WorldModel does not need to know when and
     *  how many commservers connect, unless it wants to do it's own
     *  load balancing
     */
    void notifyCommserverDisconnect(spades::ServerID s);

protected:
    struct AgentItem
    {
        AgentItem(const std::string& agentType = "", int num = 0) :
            mAgentType(agentType), mNumber(num) {}
        std::string mAgentType;
        int mNumber;
    };
    typedef std::list<AgentItem> TAgentQueue;

    /** Start up a number of agents of a given type.
        \param ai contains the agent type from the agent database and the
                  number of agents to start.
    */
    void StartAgents(const AgentItem& ai);

private:
    /** the Spades simulation engine */
    spades::SimEngine* mSimEngine;

    /** our commandline parser */
    boost::shared_ptr<ParamReader> mParamReader;

    /** flag if there is a simulation mode change scheduled */
    bool mSimulationModeChanged;

    /** the next simulation mode for a mode change */
    spades::SimulationMode mNewSimulationMode;

    /** a queue of agents to be started up */
    TAgentQueue mAgentQueue;

    /** the simTime offset in the scheduled times for the agents
        CreateSenseEvent
    */
    float mOffsetCreateSense;

    /** the initial CreateSenseEvent simTime scheduled for the next
        connecing agent
     */
    float mNextInitialCreateSense;

    /** a cached reference to the monitor server */
    boost::shared_ptr<MonitorServer> mMonitorServer;

    /** a cached reference to the GameControlServer */
    boost::shared_ptr<GameControlServer> mGameControlServer;

    /** a cached reference to the SceneServer */
    boost::shared_ptr<SceneServer> mSceneServer;

    /** the cached Spades.TimePerStep value */
    float mTimePerStep;
};

DECLARE_CLASS(SpadesServer);

} // namespace oxygen

#endif // OXYGEN_SPADESSERVER_H

--- NEW FILE: spadesserver.cpp ---
/* -*- 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: spadesserver.cpp,v 1.1 2005/12/05 21:21:18 rollmark Exp $

   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 "spadesserver.h"

using namespace boost;
using namespace zeitgeist;
using namespace oxygen;
using namespace spades;
using namespace std;

#include <zeitgeist/corecontext.h>
#include <zeitgeist/logserver/logserver.h>
#include <zeitgeist/scriptserver/scriptserver.h>
#include <oxygen/sceneserver/sceneserver.h>
#include <oxygen/gamecontrolserver/gamecontrolserver.h>
#include <oxygen/monitorserver/monitorserver.h>
#include <oxygen/gamecontrolserver/actionobject.h>
#include <spades/SimEngine.hpp>
#include <spades/EndSimulationEvent.hpp>
#include "spadescreatesenseevent.h"
#include "spadesactevent.h"

SpadesServer::SpadesServer() :
    zeitgeist::Node(), spades::WorldModel(),
    mSimEngine(0), mSimulationModeChanged(false),
    mOffsetCreateSense(0),mNextInitialCreateSense(0)
{
}

SpadesServer::~SpadesServer()
{
}

bool
SpadesServer::ConstructInternal()
{
    // setup script variables used to customize the SpadesServer
    GetScript()->CreateVariable("Spades.TimePerStep", 0.01f);
    GetScript()->CreateVariable("Spades.MonitorInterval", 4);
    GetScript()->CreateVariable("Spades.RunIntegratedCommserver", false);
    GetScript()->CreateVariable("Spades.CommServersWanted", 1);
    GetScript()->CreateVariable("Spades.SendAgentThinkTimes", false);

    return true;
}

void
SpadesServer::OnLink()
{
    mMonitorServer = shared_dynamic_cast<MonitorServer>
        (GetCore()->Get("/sys/server/monitor"));

    if (mMonitorServer.get() == 0)
    {
        GetLog()->Error() << "ERROR: (SpadesServer) MonitorServer not found.\n";
    }

    mGameControlServer = shared_dynamic_cast<GameControlServer>
        (GetCore()->Get("/sys/server/gamecontrol"));

    if (mGameControlServer.get() == 0)
    {
        GetLog()->Error() << "ERROR: (SpadesServer) GameControlServer not found.\n";
    }

    mSceneServer = shared_dynamic_cast<SceneServer>
        (GetCore()->Get("/sys/server/scene"));

    if (mSceneServer.get() == 0)
    {
        GetLog()->Error() << "ERROR: (SpadesServer) SceneServer not found.\n";
    }

    // cache frequently queried ruby values here
    mTimePerStep = 0.01f;
}

void
SpadesServer::OnUnlink()
{
    mMonitorServer.reset();
    mGameControlServer.reset();
    mSceneServer.reset();
}

spades::SimEngine*
SpadesServer::GetSimEngine()
{
    return mSimEngine;
}

float
SpadesServer::GetTimePerStep() const
{
    return mTimePerStep;
}

int
SpadesServer::GetCommServersWanted() const
{
    int commServersWanted = 1;
    GetScript()->GetVariable("Spades.CommServersWanted",commServersWanted);

    return std::max<int>(1,commServersWanted);
}

bool
SpadesServer::GetRunIntegratedCommserver() const
{
    bool run_integrated_commserver = false;
    GetScript()->GetVariable("Spades.RunIntegratedCommserver",
                             run_integrated_commserver);

    return run_integrated_commserver;
}

int
SpadesServer::GetMonitorInterval() const
{
    int monitor_interval = 10;
    GetScript()->GetVariable("Spades.MonitorInterval", monitor_interval);

    return monitor_interval;
}

bool
SpadesServer::GetSendAgentThinkTimes() const
{
    bool send_agent_think_times = false;
    GetScript()->GetVariable("Spades.SendAgentThinkTimes",
                             send_agent_think_times);

    return send_agent_think_times;
}

boost::shared_ptr<GameControlServer>
SpadesServer::GetGameControlServer() const
{
    return mGameControlServer;
}

void
SpadesServer::StartAgents(const AgentItem& ai)
{
    GetLog()->Debug() << "SpadesServer::StartAgents("
                      << ai.mAgentType << ", " << ai.mNumber << ")\n";

    if (!mSimEngine || mSimEngine->getNumCommServers () < 1)
    {
        GetLog()->Error() << "(SpadesServer) No simulation engine or comm server, "
                          << "cannot start agents\n" << endl;
        return;
    }

    AgentTypeDB::AgentTypeConstIterator
        at = mSimEngine->getAgentTypeDB()->getAgentType(ai.mAgentType);

    if (at == mSimEngine->getAgentTypeDB()->nullIterator())
    {
        GetLog()->Error()
            << "ERROR: (SpadesServer) could not find agent type "
            << ai.mAgentType << endl;
        return;
    }

    int num = std::max(ai.mNumber, 0);

    while (num > 0)
    {
        if (mSimEngine->startNewAgent(at) == AGENTID_INVALID)
        {
            num = 0;
            GetLog()->Error()
                << "ERROR: (SpadesServer) starting agent of type " << ai.mAgentType
                << " failed" << endl;
        }
        --num;
    }
}

void
SpadesServer::Unpause()
{
    mNewSimulationMode = SM_RunNormal;
    mSimulationModeChanged = true;
}

void
SpadesServer::QueueAgents(const std::string& agentType, int num)
{
    mAgentQueue.push_back(AgentItem(agentType, num));
}

// ----------------------------------------------------------------------
// SPADES interface methods
EngineParam*
SpadesServer::parseParameters(int argc, const char *const *argv)
{
    mParamReader =
        shared_static_cast<ParamReader>(GetCore()->New("oxygen/ParamReader"));

    // SimulationEngineMain uses the ParamReader we have to get the
    // command line options. It doesn't delete the ParamReader, so we
    // can return a simple pointer
    mParamReader->getOptions(argc, argv);

    // start an inprocess commserver
    mParamReader->setParam("run_integrated_commserver",
                           GetRunIntegratedCommserver());

    // send updates to the monitor every nth cycle
    mParamReader->setParam("monitor_interval", GetMonitorInterval());

    // don't send think time messages to connected agents
    mParamReader->setParam("send_agent_think_times", GetSendAgentThinkTimes());

    return mParamReader.get();
}

bool
SpadesServer::initialize(SimEngine* pSE)
{
    mSimEngine = pSE;
    return true;
}

bool
SpadesServer::finalize()
{
    return true;
}

SimTime
SpadesServer::simToTime(SimTime time_curr, SimTime time_desired)
{
    int steps = time_desired - time_curr;
    if (steps <= 0)
    {
        GetLog()->Warning()
            << "WARNING: (SpadesServer) will not simulate <= 0 steps\n";
        return time_curr;
    }

    if (
        (mSceneServer.get() == 0) ||
        (mGameControlServer.get() == 0)
        )
    {
        GetLog()->Warning()
            << "WARNING: (SpadesServer) SceneServer "
            << "and/or GameControlServer missing.\n";
        return time_curr;
    }

    int i = steps;

    while (i > 0)
    {
        mSceneServer->Update(mTimePerStep);
        mGameControlServer->Update(mTimePerStep);
        --i;
    }

    static bool once = true;
    if (mGameControlServer->IsFinished() && once)
    {
        once = false;
        // initiate shutdown here (what time should we use?)
        mSimEngine->enqueueEvent(new EndSimulationEvent(time_desired+1));
    }

    //    GetLog()->Debug() << "(SpadesServer) time_curr=" << time_curr
    //                  << " time_desired=" << time_desired << endl;
    //    GetLog()->Debug() << "updated the scene by " << steps - i << " * "
    //                << timePerStep << " seconds.\n";

    // return the simulation time when the loop stopped
    // (the '- i' makes sense if we exit the while loop earlier)
    return time_desired - i;
}

DataArray
SpadesServer::getMonitorHeaderInfo()
{
    if (mMonitorServer.get() == 0)
    {
        return DataArray();
    }

    return DataArray(mMonitorServer->GetMonitorHeaderInfo());
}

DataArray
SpadesServer::getMonitorInfo(SimTime /*time*/)
{
    if (mMonitorServer.get() == 0)
    {
        return DataArray();
    }

    return DataArray(mMonitorServer->GetMonitorInfo());
}

void
SpadesServer::parseMonitorMessage(const char* data, unsigned datalen)
{
    if (mMonitorServer.get() == 0)
    {
        return;
    }

    return mMonitorServer->ParseMonitorMessage(string(data,datalen));
}

SimTime
SpadesServer::getMinActionLatency() const
{
    return 1;
}

SimTime
SpadesServer::getMinSenseLatency() const
{
    return 1;
}

ActEvent*
SpadesServer::parseAct(SimTime act_received_time, AgentID a, const char* data, unsigned datalen) const
{
    if (mGameControlServer.get() == 0)
    {
        return 0;
    }

    shared_ptr<ActionObject::TList> actionList
        = mGameControlServer->Parse(a,std::string(data,datalen));

    if (actionList.get() == 0)
    {
        return 0;
    }

    float latency = mGameControlServer->GetActionLatency(a);
    // pfr 5/24/2004
    // the time act_received_time is the time that the commserver reports as the actions being
    // sent. Notably, this includes the thinking latency.
    // This is NOT the same as mSimEngine->getSimulationTime() (which is what was here before)
    // since SPADES does out of order event reception and processing reasoning
    SimTime arrival = act_received_time + static_cast<int>(latency / GetTimePerStep());

    return new SpadesActEvent(arrival, a, actionList);
}

void
SpadesServer::pauseModeCallback()
{
    // the first time pauseModeCallback will be called is immediatly
    // after startup when SPADES is in SM_PausedInitial mode

    if (mSimEngine->getSimulationMode() == SM_PausedInitial)
    {
        int numConnected = mSimEngine->getNumCommServers();
        GetLog()->Normal() << "(SpadesServer) waiting for a total of "
                           << GetCommServersWanted()
                           << " CommServers, " << numConnected
                           << " already connected\n";

        if (numConnected >= GetCommServersWanted())
        {
            Unpause();
        } else
        {
            return;
        }
    }

    if (
        (mGameControlServer.get() != 0) &&
        (! mAgentQueue.empty())
        )
    {
        int agentCount = 0;
        for (
            TAgentQueue::iterator iter = mAgentQueue.begin();
            iter != mAgentQueue.end();
            ++iter
            )
        {
            agentCount += (*iter).mNumber;
        }

        // todo: query the gcs, prob: currently deltaSense returned
        // for an agentId which is unknown at this point
        float deltaSense = 0.20;
        float offsetSec = deltaSense / agentCount;

        mOffsetCreateSense = (offsetSec / GetTimePerStep());
        mNextInitialCreateSense = mSimEngine->getSimulationTime() + 1;

        GetLog()->Debug() << "(SpadesServer) Starting "
                           << agentCount << " agents (delta sense: " << deltaSense<< ")\n"
                           << "with an CreateSenseEvent offset of "
                           << mOffsetCreateSense << " (" << offsetSec << " seconds)\n"
                           << "starting at simTime " << mNextInitialCreateSense << "\n";

        while (! mAgentQueue.empty())
        {
            StartAgents(mAgentQueue.front());
            mAgentQueue.pop_front();
        }
    }

    if (mSimulationModeChanged)
    {
        mSimEngine->changeSimulationMode(mNewSimulationMode);
        mSimulationModeChanged = false;
    }
}

bool
SpadesServer::agentConnect(AgentID agent, AgentTypeDB::AgentTypeConstIterator /*at*/)
{
    // try to register the agent to the game control server
    shared_ptr<GameControlServer> gcs = GetGameControlServer();

    if (
        (mGameControlServer.get() == 0) ||
        (! mGameControlServer->AgentConnect(static_cast<int>(agent)))
        )
    {
        GetLog()->Normal()
            << "(SpadesServer) ERROR: cannot register agent "
            << "to the GameControlServer\n";
        return false;
    }

    // schedule the first SpadesCreateSenseEvent
    SimTime time = static_cast<SimTime>(mNextInitialCreateSense);
    SpadesCreateSenseEvent* event = new SpadesCreateSenseEvent
        (time,agent);

    SimTime now = mSimEngine->getSimulationTime();
    GetLog()->Normal()
        << "(SpadesServer) agentConnect (id " << agent
        << ") at simlation time " << now << ".\n"
        << "Initial CreateSenseEvent scheduled at "
        << time << "\n";

    mNextInitialCreateSense += mOffsetCreateSense;
    mSimEngine->enqueueEvent(event);

    return true;
}

bool
SpadesServer::agentDisappear(AgentID agent, AgentLostReason /*reason*/)
{
    if (mGameControlServer.get() == 0)
    {
        return false;
    }

    return mGameControlServer->AgentDisappear(static_cast<int>(agent));
}

void
SpadesServer::notifyCommserverConnect(ServerID /*s*/)
{
}

void
SpadesServer::notifyCommserverDisconnect(ServerID /*s*/)
{
}

void
SpadesServer::UpdateCached()
{
    GetScript()->GetVariable("Spades.TimePerStep", mTimePerStep);
}