[simspark-cvs] simspark/simulations/soccer/plugin/soccerbase soccerbase.cpp, NONE, 1.1.2.1 soccerba

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Update of /cvsroot/simspark/simspark/simulations/soccer/plugin/soccerbase
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv24718/soccerbase

Added Files:
      Tag: projectx
	soccerbase.cpp soccerbase.h 
Log Message:
soccer plugins from rcssserver3D

--- NEW FILE: soccerbase.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: soccerbase.h,v 1.1.2.1 2007/03/07 10:39:42 fruit 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 SOCCERBASE_H
#define SOCCERBASE_H

#include <soccer/soccertypes.h>
#include <zeitgeist/scriptserver/scriptserver.h>
#include <zeitgeist/leaf.h>
#include <zeitgeist/logserver/logserver.h>
#include <boost/shared_ptr.hpp>

//namespace zeitgeist
//{
//    class Leaf;
//}

namespace oxygen
{
    class SceneServer;
    class Scene;
    class Transform;
    class Perceptor;
    class Body;
    class SphereCollider;
    class ControlAspect;
}

namespace salt
{
    class Vector3f;
}

class AgentState;
class GameStateAspect;
class SoccerRuleAspect;
class Ball;

class SoccerBase
{
public:
    typedef std::list<boost::shared_ptr<AgentState> > TAgentStateList;

public:
    SoccerBase() {}

    virtual ~SoccerBase() {}

    /** returns a reference to the SceneServer */
    static bool
    GetSceneServer(const zeitgeist::Leaf& base,
                   boost::shared_ptr<oxygen::SceneServer>& scene_server);

    /** returns a reference to the closest parent supporting
        Transform */
    static bool
    GetTransformParent(const zeitgeist::Leaf& base,
                       boost::shared_ptr<oxygen::Transform>& transform_parent);

    /** returns a reference to the Body node below the closest
        transform parent */
    static bool
    GetBody(const zeitgeist::Leaf& base, boost::shared_ptr<oxygen::Body>& body);

    /** returns a reference to the Body node below the given Transform
        node */
    static bool
    GetAgentBody(const boost::shared_ptr<oxygen::Transform> transform,
                 boost::shared_ptr<oxygen::Body>& agent_body);

    /** returns a reference to the Body node below the given Transform
        node based on parameters team index and uniform number */
    static bool
    GetAgentBody(const zeitgeist::Leaf& base, TTeamIndex idx,
                 int unum, boost::shared_ptr<oxygen::Body>& agent_body);

    /** returns a reference to the AgentState node below the closest
        Transform parent */
    static bool
    GetAgentState(const zeitgeist::Leaf& base,
                  boost::shared_ptr<AgentState>& agent_state);

    /** returns a reference to the AgentState node below the given
        transform node */
    static bool
    GetAgentState(const boost::shared_ptr<oxygen::Transform> transform,
                  boost::shared_ptr<AgentState>& agentState);

    /** returns a reference to the AgentState node below the given Transform
        node based on parameters team index and uniform number */
    static bool
    GetAgentState(const zeitgeist::Leaf& base, TTeamIndex idx,
                 int unum, boost::shared_ptr<AgentState>& agent_state);

    static bool
    GetAgentStates(const zeitgeist::Leaf& base,
                   TAgentStateList& agentStates,
                   TTeamIndex idx = TI_NONE);

    /** return a reference to the GameStateAspect node */
    static bool
    GetGameState(const zeitgeist::Leaf& base,
                 boost::shared_ptr<GameStateAspect>& game_state);

    /** return a reference to the SoccerRuleAspect node */
    static bool
    GetSoccerRuleAspect(const zeitgeist::Leaf& base,
                        boost::shared_ptr<SoccerRuleAspect>& soccer_rule_aspect);

    /** returns a reference to the active scene from the SceneServer */
    static bool
    GetActiveScene(const zeitgeist::Leaf& base,
                   boost::shared_ptr<oxygen::Scene>& active_scene);

    /** returns a reference to the Ball node */
    static bool
    GetBall(const zeitgeist::Leaf& base, boost::shared_ptr<Ball>& ball);

    /** returns a reference to the Body node below the Ball */
    static bool
    GetBallBody(const zeitgeist::Leaf& base,
                boost::shared_ptr<oxygen::Body>& body);

    /** returns a reference to the Body SphereCollider node below the Ball */
    static bool
    GetBallCollider(const zeitgeist::Leaf& base,
                boost::shared_ptr<oxygen::SphereCollider>& sphere);

    /** flips horizontal coordinates according to the side of the agent */
    static salt::Vector3f FlipView(const salt::Vector3f& pos, TTeamIndex ti);

    /** Get the team index of the opponent team */
    static TTeamIndex OpponentTeam(TTeamIndex ti);

    /** returns a reference to a ControlAspect registered to the
        GameControlServer */
    static boost::shared_ptr<oxygen::ControlAspect>
    GetControlAspect(const zeitgeist::Leaf& base, const std::string& name);

    /** looks up a ruby variable in the Soccer namespace */
    template<typename TYPE>
    static bool GetSoccerVar(const zeitgeist::Leaf& base, const std::string& name,
                      TYPE& value)
    {
        static const std::string nSpace = "Soccer.";
        bool ok = base.GetCore()->GetScriptServer()->GetVariable
            (std::string(nSpace + name),value);

        if (! ok)
            {
                base.GetLog()->Error()
                    << "ERROR: (SoccerBase: " << base.GetName()
                    << ") soccer variable '" << name << "' not found\n";
                return false;
            }

        return ok;
    }

    /** returns a string representing a play mode */
    static std::string PlayMode2Str(const TPlayMode mode);
};

#endif

--- NEW FILE: soccerbase.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: soccerbase.cpp,v 1.1.2.1 2007/03/07 10:39:42 fruit 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 "soccerbase.h"
#include <oxygen/physicsserver/body.h>
#include <oxygen/physicsserver/spherecollider.h>
#include <oxygen/agentaspect/perceptor.h>
#include <oxygen/sceneserver/sceneserver.h>
#include <oxygen/sceneserver/scene.h>
#include <oxygen/sceneserver/transform.h>
#include <oxygen/controlaspect/controlaspect.h>
#include <soccer/gamestateaspect/gamestateaspect.h>
#include <soccer/soccerruleaspect/soccerruleaspect.h>
#include <soccer/agentstate/agentstate.h>
#include <soccer/ball/ball.h>

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

bool
SoccerBase::GetSceneServer(const Leaf& base,
                           shared_ptr<SceneServer>& scene_server)
{
    scene_server = shared_static_cast<SceneServer>
        (base.GetCore()->Get("/sys/server/scene"));

    if (scene_server.get() == 0)
    {
        base.GetLog()->Error()
            << "Error: (SoccerBase: " << base.GetName()
            << ") scene server not found.\n";
        return false;
    }

    return true;
}

bool
SoccerBase::GetTransformParent(const Leaf& base,
                               shared_ptr<Transform>& transform_parent)
{
    transform_parent = shared_dynamic_cast<Transform>
        (make_shared(base.GetParentSupportingClass("Transform")));

    if (transform_parent.get() == 0)
    {
        base.GetLog()->Error()
            << "Error: (SoccerBase: " << base.GetName()
            << ") parent node is not derived from TransformNode\n";
        return false;
    }
    return true;
}

bool
SoccerBase::GetAgentState(const shared_ptr<Transform> transform,
                          shared_ptr<AgentState>& agent_state)
{
    agent_state =
        shared_dynamic_cast<AgentState>(transform->GetChild("AgentState"));

    if (agent_state.get() == 0)
    {
        return false;
    }

    return true;
}

bool
SoccerBase::GetAgentBody(const shared_ptr<Transform> transform,
                          shared_ptr<Body>& agent_body)

{
    agent_body = shared_dynamic_cast<Body>
        (transform->GetChildSupportingClass("Body", true));

    if (agent_body.get() == 0)
    {
        transform->GetLog()->Error()
            << "(SoccerBase) ERROR: " << transform->GetName()
            << ") node has no Body child\n";
        return false;
    }

    return true;
}

bool
SoccerBase::GetAgentBody(const Leaf& base, TTeamIndex idx,
                         int unum, shared_ptr<Body>& agent_body)
{
    shared_ptr<AgentState> agentState;
    shared_ptr<Transform>  parent;

    // get matching AgentState
    if (!GetAgentState(base, idx, unum, agentState))
        return false;

    // get AgentAspect
    if (!GetTransformParent(*agentState, parent))
        return false;

    // call GetAgentBody with matching AgentAspect
    return GetAgentBody(parent, agent_body);
}

bool
SoccerBase::GetAgentState(const Leaf& base,
                          shared_ptr<AgentState>& agent_state)
{
    shared_ptr<Transform> parent;
    if (! GetTransformParent(base,parent))
    {
        return false;
    }

    return GetAgentState(parent,agent_state);
}

bool
SoccerBase::GetAgentState(const Leaf& base, TTeamIndex idx,
                          int unum, shared_ptr<AgentState>& agentState)
{
    // get the active scene
    shared_ptr<Scene> activeScene;

    if (GetActiveScene(base, activeScene))
    {
        Leaf::TLeafList leafList;

        // get a list of all the agent aspects
        activeScene->GetChildrenOfClass("AgentAspect", leafList);

        if (leafList.size() == 0)
        {
            base.GetLog()->Error()
                << "ERROR: (SoccerBase) active scene doesn't have "
                << "children of type AgentAspect\n";

            return false;
        }

        Leaf::TLeafList::iterator iter = leafList.begin();

        // search through the list to find an agent state
        // with matching team index and unum
        for (
              iter;
              iter != leafList.end();
              ++iter
             )
        {
            shared_ptr<Transform> agentAspect =
             shared_dynamic_cast<Transform>(*iter);

            if (GetAgentState(agentAspect, agentState) &&
                (agentState->GetTeamIndex() == idx) &&
                (agentState->GetUniformNumber() == unum))
            {
                return true;
            }
        }
    }
    return false;
}

bool
SoccerBase::GetAgentStates(const zeitgeist::Leaf& base,
                           TAgentStateList& agentStates,
                           TTeamIndex idx)
{
    // get the active scene
    shared_ptr<Scene> activeScene;

    if (GetActiveScene(base, activeScene))
    {
        Leaf::TLeafList leafList;

        // get a list of all the agent aspects
        activeScene->GetChildrenOfClass("AgentAspect", leafList);

        if (leafList.size() == 0)
        {
            base.GetLog()->Error()
                << "ERROR: (SoccerBase) active scene doesn't have "
                << "children of type AgentAspect\n";

            return false;
        }

        shared_ptr<AgentState> agentState;
        Leaf::TLeafList::iterator iter = leafList.begin();
        // search through the list to find an agent state
        // with matching team index
        for (iter;
             iter != leafList.end();
             ++iter
            )
        {
            shared_ptr<Transform> agentAspect =
                shared_dynamic_cast<Transform>(*iter);

            if (agentAspect.get() == 0) continue;

            if (GetAgentState(agentAspect, agentState) &&
                ((agentState->GetTeamIndex() == idx) ||
                 (idx == TI_NONE)))
            {
                agentStates.push_back(agentState);
            }
        }
        return true;
    }
    return false;
}

bool
SoccerBase::GetGameState(const Leaf& base,
                         shared_ptr<GameStateAspect>& game_state)
{
    game_state = shared_dynamic_cast<GameStateAspect>
        (base.GetCore()->Get("/sys/server/gamecontrol/GameStateAspect"));

    if (game_state.get() == 0)
    {
        base.GetLog()->Error()
            << "Error: (SoccerBase: " << base.GetName()
            << ") found no GameStateAspect\n";
        return false;
    }

    return true;
}

bool
SoccerBase::GetSoccerRuleAspect(const Leaf& base,
                                shared_ptr<SoccerRuleAspect>& soccer_rule_aspect)
{
    soccer_rule_aspect = shared_dynamic_cast<SoccerRuleAspect>
        (base.GetCore()->Get("/sys/server/gamecontrol/SoccerRuleAspect"));

    if (soccer_rule_aspect.get() == 0)
    {
        base.GetLog()->Error()
            << "Error: (SoccerBase: " << base.GetName()
            << ") found no SoccerRuleAspect\n";
        return false;
    }

    return true;
}

bool
SoccerBase::GetActiveScene(const Leaf& base,
                           shared_ptr<Scene>& active_scene)
{
    shared_ptr<SceneServer> sceneServer;
    if (! GetSceneServer(base,sceneServer))
        {
            return false;
        }

    active_scene = sceneServer->GetActiveScene();
    if (active_scene.get() == 0)
    {
        base.GetLog()->Error()
            << "ERROR: (SoccerBase: " << base.GetName()
            << ") SceneServer reports no active scene\n";
        return false;
    }
    return true;
}

bool
SoccerBase::GetBody(const Leaf& base, shared_ptr<Body>& body)
{
    shared_ptr<Transform> parent;
    if (! GetTransformParent(base,parent))
    {
        return false;
    }

  body = shared_dynamic_cast<Body>(parent->GetChildOfClass("Body"));

  if (body.get() == 0)
    {
      base.GetLog()->Error()
          << "ERROR: (SoccerBase: " << base.GetName()
          << ") parent node has no Body child.";
      return false;
    }

  return true;
}

bool
SoccerBase::GetBall(const Leaf& base, shared_ptr<Ball>& ball)
{
    shared_ptr<Scene> scene;
    if (! GetActiveScene(base,scene))
        {
            return false;
        }

    ball = shared_dynamic_cast<Ball>
        (base.GetCore()->Get(scene->GetFullPath() + "Ball"));

    if (ball.get() == 0)
        {
            base.GetLog()->Error()
                << "ERROR: (SoccerBase: " << base.GetName()
                << ") found no ball node\n";
            return false;
        }

    return true;
}

bool
SoccerBase::GetBallBody(const Leaf& base, shared_ptr<Body>& body)
{
    shared_ptr<Scene> scene;
    if (! GetActiveScene(base,scene))
        {
            return false;
        }

   body = shared_dynamic_cast<Body>
        (base.GetCore()->Get(scene->GetFullPath() + "Ball/physics"));

   if (body.get() == 0)
       {
            base.GetLog()->Error()
                << "ERROR: (SoccerBase: " << base.GetName()
                << ") found no ball body node\n";
            return false;
       }

   return true;
}

bool
SoccerBase::GetBallCollider(const zeitgeist::Leaf& base,
                boost::shared_ptr<oxygen::SphereCollider>& sphere)
{
    shared_ptr<Scene> scene;
    if (! GetActiveScene(base,scene))
        {
            return false;
        }

   sphere = shared_dynamic_cast<SphereCollider>
        (base.GetCore()->Get(scene->GetFullPath() + "Ball/geometry"));

   if (sphere.get() == 0)
       {
            base.GetLog()->Error()
                << "ERROR: (SoccerBase: " << base.GetName()
                << ") Ball got no SphereCollider node\n";
            return false;
       }

   return true;
}

salt::Vector3f
SoccerBase::FlipView(const salt::Vector3f& pos, TTeamIndex ti)
{
    salt::Vector3f newPos;
    switch (ti)
    {
    case TI_RIGHT:
        newPos[0] = -pos[0];
        newPos[1] = -pos[1];
        newPos[2] = pos[2];
        break;
    case TI_NONE:
    case TI_LEFT:
        newPos = pos;
        break;
    }
    return newPos;
}

TTeamIndex
SoccerBase::OpponentTeam(TTeamIndex ti)
{
    switch (ti)
    {
    case TI_RIGHT:
        return TI_LEFT;
    case TI_LEFT:
        return TI_RIGHT;
    default:
        return TI_NONE;
    }
}

string
SoccerBase::PlayMode2Str(const TPlayMode mode)
{
    switch (mode)
    {
    case PM_BeforeKickOff:
        return STR_PM_BeforeKickOff;

    case PM_KickOff_Left:
        return STR_PM_KickOff_Left;

    case PM_KickOff_Right:
        return STR_PM_KickOff_Right;

    case PM_PlayOn:
        return STR_PM_PlayOn;

    case PM_KickIn_Left:
        return STR_PM_KickIn_Left;

    case PM_KickIn_Right:
        return STR_PM_KickIn_Right;

    case PM_CORNER_KICK_LEFT:
        return STR_PM_CORNER_KICK_LEFT;

    case PM_CORNER_KICK_RIGHT:
        return STR_PM_CORNER_KICK_RIGHT;

    case PM_GOAL_KICK_LEFT:
        return STR_PM_GOAL_KICK_LEFT;

    case PM_GOAL_KICK_RIGHT:
        return STR_PM_GOAL_KICK_RIGHT;

    case PM_OFFSIDE_LEFT:
        return STR_PM_OFFSIDE_LEFT;

    case PM_OFFSIDE_RIGHT:
        return STR_PM_OFFSIDE_RIGHT;

    case PM_GameOver:
        return STR_PM_GameOver;

    case PM_Goal_Left:
        return STR_PM_Goal_Left;

    case PM_Goal_Right:
        return STR_PM_Goal_Right;

    case PM_FREE_KICK_LEFT:
        return STR_PM_FREE_KICK_LEFT;

    case PM_FREE_KICK_RIGHT:
        return STR_PM_FREE_KICK_RIGHT;

    default:
        return STR_PM_Unknown;
    };
}

shared_ptr<ControlAspect>
SoccerBase::GetControlAspect(const zeitgeist::Leaf& base,const string& name)
{
  static const string gcsPath = "/sys/server/gamecontrol/";

  shared_ptr<ControlAspect> aspect = shared_dynamic_cast<ControlAspect>
    (base.GetCore()->Get(gcsPath + name));

  if (aspect.get() == 0)
    {
        base.GetLog()->Error()
            << "ERROR: (SoccerBase: " << base.GetName()
            << ") found no ControlAspect " << name << "\n";
    }

  return aspect;
}

[simspark-cvs] simspark/simulations/soccer/plugin/soccerbase soccerbase.cpp, NONE, 1.1.2.1 soccerba

[simspark-cvs] simspark/simulations/soccer/plugin/soccerbase soccerbase.cpp, NONE, 1.1.2.1 soccerbase.h, NONE, 1.1.2.1