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sexpmonitor.h

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: sexpmonitor.h,v 1.11 2005/06/29 08:39:59 fruit Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 
00022    FileSystemSTD
00023 */
00024 #ifndef SEXPMONITOR_H__
00025 #define SEXPMONITOR_H__
00026 
00027 #include <string>
00028 #include <oxygen/monitorserver/monitorsystem.h>
00029 #include <plugin/soccer/trainercommandparser/trainercommandparser.h>
00030 
00031 class GameStateAspect;
00032 class BallStateAspect;
00033 
00034 namespace oxygen
00035 {
00036     class AgentAspect;
00037     class Scene;
00038 }
00039 
00045 class SexpMonitor : public oxygen::MonitorSystem
00046 {
00047 public:
00048     SexpMonitor();
00049     virtual ~SexpMonitor();
00050 
00055     void ParseMonitorMessage(const std::string& data);
00056 
00064     virtual std::string GetMonitorInfo(const oxygen::PredicateList& pList);
00065 
00074     virtual std::string GetMonitorHeaderInfo(const oxygen::PredicateList& pList);
00075 
00080     void SendRotationMatrix(bool send);
00081 
00082 protected:
00086     virtual bool ConstructInternal();
00087 
00089     void AddAgents(boost::shared_ptr<oxygen::Scene> activeScene, std::ostringstream& ss) const;
00090 
00092     void AddFlags(boost::shared_ptr<oxygen::Scene> activeScene, std::ostringstream& ss);
00093 
00095     void AddBall(boost::shared_ptr<oxygen::Scene> activeScene, std::ostringstream& ss) const;
00096 
00098     virtual void OnLink();
00099 
00101     virtual void OnUnlink();
00102 
00103     virtual void UpdateCached();
00104 
00105     void ResetSentFlags();
00106 
00110     void AddPredicates(std::ostringstream& ss, const oxygen::PredicateList& pList);
00111 
00112 protected:
00113     boost::shared_ptr<GameStateAspect> mGameState;
00114 
00115     boost::shared_ptr<TrainerCommandParser> mCommandParser;
00116 
00117     boost::shared_ptr<BallStateAspect> mBallState;
00118 
00119     // flag if we want to send the rotation matrix
00120     bool mSendRotMatrix;
00121 
00122     // flags for sent information
00124     bool mSentFlags;
00125 };
00126 
00127 DECLARE_CLASS(SexpMonitor);
00128 
00129 #endif // SEXPMONITOR_H__

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