[simspark-cvs] simspark/spark/plugin/sparkagent .cvsignore,NONE,1.1 Makefile.am,NONE,1.1 export.cpp,

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Update of /cvsroot/simspark/simspark/spark/plugin/sparkagent
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv885/sparkagent

Added Files:
	.cvsignore Makefile.am export.cpp hinge2action.h 
	hinge2effector.cpp hinge2effector.h hinge2effector_c.cpp 
	hinge2perceptor.cpp hinge2perceptor.h hinge2perceptor_c.cpp 
	timeperceptor.cpp timeperceptor.h timeperceptor_c.cpp 
Log Message:
- added spark specific plugins

--- NEW FILE: .cvsignore ---
*.la
*.lo
.deps
.libs
Makefile
Makefile.in

--- NEW FILE: hinge2effector_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: hinge2effector_c.cpp,v 1.1 2005/12/13 21:48:50 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 "hinge2effector.h"

void CLASS(Hinge2Effector)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/Effector);
}

--- NEW FILE: timeperceptor_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: timeperceptor_c.cpp,v 1.1 2005/12/13 21:48:50 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 "timeperceptor.h"

void CLASS(TimePerceptor)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/Perceptor);
}

--- NEW FILE: export.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: export.cpp,v 1.1 2005/12/13 21:48:50 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 <zeitgeist/zeitgeist.h>
#include "hinge2perceptor.h"
#include "hinge2effector.h"
#include "timeperceptor.h"

ZEITGEIST_EXPORT_BEGIN()
    ZEITGEIST_EXPORT(Hinge2Effector);
    ZEITGEIST_EXPORT(Hinge2Perceptor);
    ZEITGEIST_EXPORT(TimePerceptor);
ZEITGEIST_EXPORT_END()

--- NEW FILE: timeperceptor.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: timeperceptor.cpp,v 1.1 2005/12/13 21:48:50 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 "timeperceptor.h"
#include <zeitgeist/logserver/logserver.h>

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

TimePerceptor::TimePerceptor() : Perceptor()
{
}

TimePerceptor::~TimePerceptor()
{
}

void TimePerceptor::OnLink()
{
    mSimulationServer = shared_dynamic_cast<SimulationServer>
        (GetCore()->Get("/sys/server/simulation"));

    if (mSimulationServer.get() == 0)
        {
            GetLog()->Error()
                << "(TimePerceptor) ERROR: SimulationServer not found\n";
        }
}

void TimePerceptor::OnUnlink()
{
    mSimulationServer.reset();
}

bool TimePerceptor::Percept(boost::shared_ptr<oxygen::PredicateList> predList)
{
    if (mSimulationServer.get() == 0)
        {
            return false;
        }

    Predicate& predicate = predList->AddPredicate();
    predicate.name = "time";
    predicate.parameter.Clear();

    ParameterList& nowElement = predicate.parameter.AddList();
    nowElement.AddValue(string("now"));
    nowElement.AddValue(mSimulationServer->GetTime());

    ParameterList& stepElement = predicate.parameter.AddList();
    stepElement.AddValue(string("step"));
    stepElement.AddValue(mSimulationServer->GetSimStep());

    return true;
}

--- NEW FILE: hinge2effector.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: hinge2effector.cpp,v 1.1 2005/12/13 21:48:50 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 "hinge2effector.h"
#include "hinge2action.h"

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

Hinge2Effector::Hinge2Effector() : Effector()
{
    SetName("hinge2");
}

Hinge2Effector::~Hinge2Effector()
{
}

bool Hinge2Effector::Realize(boost::shared_ptr<ActionObject> action)
{
    if (mJoint.get() == 0)
        {
            return false;
        }

    shared_ptr<Hinge2Action> hinge2Action =
        shared_dynamic_cast<Hinge2Action>(action);

    if (hinge2Action.get() == 0)
    {
        GetLog()->Error()
            << "ERROR: (Hinge2Effector) cannot realize an "
            << "unknown ActionObject\n";
        return false;
    }

    mJoint->SetAngularMotorVelocity
        (Joint::AI_SECOND, hinge2Action->GetMotorVelocity());

    return true;
}

shared_ptr<ActionObject> Hinge2Effector::GetActionObject(const Predicate& predicate)
{
    for(;;)
        {
            if (mJoint.get() == 0)
                {
                    break;
                }

            if (predicate.name != GetPredicate())
                {
                    GetLog()->Error()
                        << "ERROR: (KickEffector) invalid predicate"
                        << predicate.name << "\n";
                    break;
                }

            Predicate::Iterator iter = predicate.begin();

            float velocity;
            if (! predicate.AdvanceValue(iter, velocity))
                {
                    GetLog()->Error()
                        << "ERROR: (KickEffector) motor velocity expected\n";
                    break;
                }

            return shared_ptr<Hinge2Action>(new Hinge2Action(GetPredicate(),velocity));
        }

    return shared_ptr<ActionObject>();
}

void Hinge2Effector::OnLink()
{
    mJoint = make_shared(FindParentSupportingClass<Hinge2Joint>());

    if (mJoint.get() == 0)
        {
            GetLog()->Error()
                << "(Hinge2Effector) ERROR: found no Hinge2Joint parent\n";
        }

}

void Hinge2Effector::OnUnlink()
{
    mJoint.reset();
}

--- NEW FILE: timeperceptor.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: timeperceptor.h,v 1.1 2005/12/13 21:48:50 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 TIMEPERCEPTOR_H
#define TIMEPERCEPTOR_H

#include <oxygen/agentaspect/perceptor.h>
#include <oxygen/simulationserver/simulationserver.h>

class TimePerceptor : public oxygen::Perceptor
{
public:
    TimePerceptor();
    virtual ~TimePerceptor();

    //! \return true, if valid data is available and false otherwise.
    bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);

protected:
    virtual void OnLink();
    virtual void OnUnlink();

protected:
    /** cached reference to the SimulationServer */
    boost::shared_ptr<oxygen::SimulationServer> mSimulationServer;
};

DECLARE_CLASS(TimePerceptor);

#endif //TIMEPERCEPTOR_H

--- NEW FILE: hinge2effector.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: hinge2effector.h,v 1.1 2005/12/13 21:48:50 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 HINGE2EFFECTOR_H
#define HINGE2EFFECTOR_H

#include <oxygen/agentaspect/effector.h>
#include <oxygen/physicsserver/hinge2joint.h>

class Hinge2Effector : public oxygen::Effector
{
public:
    Hinge2Effector();
    virtual ~Hinge2Effector();

    /** realizes the action described by the ActionObject */
    virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action);

    /** returns the name of the predicate this effector implements. */
    virtual std::string GetPredicate() { return GetName(); }

    /** constructs an Actionobject, describing a predicate */
    virtual boost::shared_ptr<oxygen::ActionObject>
    GetActionObject(const oxygen::Predicate& predicate);

    /** setup the reference to the ball body node */
    virtual void OnLink();

    /** remove the reference to the ball body node */
    virtual void OnUnlink();

protected:
    /** cached reference to the monitor joint */
    boost::shared_ptr<oxygen::Hinge2Joint> mJoint;

};

DECLARE_CLASS(Hinge2Effector);

#endif // HINGE2EFFECTOR_H

--- NEW FILE: hinge2perceptor.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: hinge2perceptor.h,v 1.1 2005/12/13 21:48:50 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 HINGE2PERCEPTOR_H
#define HINGE2PERCEPTOR_H

#include <oxygen/agentaspect/perceptor.h>
#include <oxygen/physicsserver/hinge2joint.h>

class Hinge2Perceptor : public oxygen::Perceptor
{
public:
    Hinge2Perceptor();
    virtual ~Hinge2Perceptor();

    //! \return true, if valid data is available and false otherwise.
    bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);

protected:
    virtual void OnLink();
    virtual void OnUnlink();

    void InsertAxisAngle(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
    void InsertAxisRate(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);

protected:
    /** cached reference to the monitor joint */
    boost::shared_ptr<oxygen::Hinge2Joint> mJoint;
};

DECLARE_CLASS(Hinge2Perceptor);

#endif //HINGE2PERCEPTOR_H

--- NEW FILE: hinge2perceptor_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: hinge2perceptor_c.cpp,v 1.1 2005/12/13 21:48:50 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 "hinge2perceptor.h"

void CLASS(Hinge2Perceptor)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/Perceptor);
}

--- NEW FILE: hinge2perceptor.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: hinge2perceptor.cpp,v 1.1 2005/12/13 21:48:50 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 "hinge2perceptor.h"
#include <zeitgeist/logserver/logserver.h>

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

Hinge2Perceptor::Hinge2Perceptor() : Perceptor()
{
}

Hinge2Perceptor::~Hinge2Perceptor()
{
}

void Hinge2Perceptor::OnLink()
{
    mJoint = make_shared(FindParentSupportingClass<Hinge2Joint>());

    if (mJoint.get() == 0)
        {
            GetLog()->Error()
                << "(Hinge2Perceptor) ERROR: found no Hinge2Joint parent\n";
        }

}

void Hinge2Perceptor::OnUnlink()
{
    mJoint.reset();
}

void Hinge2Perceptor::InsertAxisAngle(Predicate& predicate, Joint::EAxisIndex idx)
{
    ParameterList& axisElement = predicate.parameter.AddList();
    axisElement.AddValue(string("axis"));
    axisElement.AddValue(static_cast<int>(idx));
    axisElement.AddValue(mJoint->GetAngle(idx));
}

void Hinge2Perceptor::InsertAxisRate(Predicate& predicate, Joint::EAxisIndex idx)
{
    ParameterList& axisElement = predicate.parameter.AddList();
    axisElement.AddValue(string("rate"));
    axisElement.AddValue(static_cast<int>(idx));
    axisElement.AddValue(mJoint->GetAngleRate(idx));
}

bool Hinge2Perceptor::Percept(boost::shared_ptr<oxygen::PredicateList> predList)
{
    if (mJoint.get() == 0)
        {
            return false;
        }

    Predicate& predicate = predList->AddPredicate();
    predicate.name = "hinge2";
    predicate.parameter.Clear();

    ParameterList& nameElement = predicate.parameter.AddList();
    nameElement.AddValue(string("name"));
    nameElement.AddValue(GetName());

    InsertAxisAngle(predicate,Joint::AI_FIRST);
    InsertAxisRate(predicate,Joint::AI_SECOND);

    return true;
}

--- NEW FILE: Makefile.am ---
pkglib_LTLIBRARIES = sparkagent.la

sparkagent_la_SOURCES = \
	hinge2action.h \
	hinge2perceptor.h \
	hinge2perceptor.cpp \
	hinge2perceptor_c.cpp \
	hinge2effector.h \
	hinge2effector.cpp \
	hinge2effector_c.cpp \
	timeperceptor.h \
	timeperceptor.cpp \
	timeperceptor_c.cpp \
	export.cpp

sparkagent_la_LDFLAGS = -module -version-info 0:0:0

AM_CPPFLAGS = -I${top_srcdir}/lib -I${top_srcdir}/utility @RUBY_CPPFLAGS@

--- NEW FILE: hinge2action.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: hinge2action.h,v 1.1 2005/12/13 21:48:50 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 HINGE2ACTION_H
#define HINGE2ACTION_H

#include <oxygen/gamecontrolserver/actionobject.h>

class Hinge2Action : public oxygen::ActionObject
{
public:
    Hinge2Action(const std::string& predicate, float velocity)
        : ActionObject(predicate), mVelocity(velocity) {};

    virtual ~Hinge2Action() {}
    float GetMotorVelocity() { return mVelocity; }

protected:
    float mVelocity;
};

#endif // HINGE2ACTION_H