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: soccercontrolaspect.cpp,v 1.2 2004/02/12 14:07:26 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 #include "soccercontrolaspect.h" 00023 #include <zeitgeist/logserver/logserver.h> 00024 #include <zeitgeist/scriptserver/scriptserver.h> 00025 #include <oxygen/sceneserver/scene.h> 00026 #include <oxygen/physicsserver/recorderhandler.h> 00027 #include <oxygen/physicsserver/body.h> 00028 #include <soccer/ball/ball.h> 00029 00030 using namespace oxygen; 00031 using namespace boost; 00032 using namespace std; 00033 using namespace salt; 00034 00035 SoccerControlAspect::SoccerControlAspect() : ControlAspect() 00036 { 00037 } 00038 00039 SoccerControlAspect::~SoccerControlAspect() 00040 { 00041 } 00042 00043 void SoccerControlAspect::OnLink() 00044 { 00045 shared_ptr<Scene> scene = GetActiveScene(); 00046 if (scene.get() == 0) 00047 { 00048 GetLog()->Error() 00049 << "(SoccerControlAspect) found no active scene node\n"; 00050 return; 00051 } 00052 00053 mScenePath = scene->GetFullPath(); 00054 } 00055 00056 shared_ptr<RecorderHandler> SoccerControlAspect::GetBallRecorder() 00057 { 00058 shared_ptr<RecorderHandler> node = shared_dynamic_cast<RecorderHandler> 00059 (GetCore()->Get(mScenePath + "Ball/geometry/recorder")); 00060 00061 if (node.get() == 0) 00062 { 00063 GetLog()->Error() 00064 << "(SoccerControlAspect) found no ball collision recorder\n"; 00065 } 00066 00067 return node; 00068 } 00069 00070 shared_ptr<RecorderHandler> SoccerControlAspect::GetFieldRecorder() 00071 { 00072 shared_ptr<RecorderHandler> node = shared_dynamic_cast<RecorderHandler> 00073 (GetCore()->Get(mScenePath + "FieldBox/recorder")); 00074 00075 if (node.get() == 0) 00076 { 00077 GetLog()->Error() 00078 << "(SoccerControlAspect) found no field collision recorder\n"; 00079 } 00080 00081 return node; 00082 } 00083 00084 shared_ptr<RecorderHandler> SoccerControlAspect::GetLeftGoalRecorder() 00085 { 00086 shared_ptr<RecorderHandler> node = shared_dynamic_cast<RecorderHandler> 00087 (GetCore()->Get(mScenePath + "GoalBoxL/recorder")); 00088 00089 if (node.get() == 0) 00090 { 00091 GetLog()->Error() 00092 << "(SoccerControlAspect) found no left goal collision recorder\n"; 00093 } 00094 00095 return node; 00096 } 00097 00098 shared_ptr<RecorderHandler> SoccerControlAspect::GetRightGoalRecorder() 00099 { 00100 shared_ptr<RecorderHandler> node = shared_dynamic_cast<RecorderHandler> 00101 (GetCore()->Get(mScenePath + "GoalBoxR/recorder")); 00102 00103 if (node.get() == 0) 00104 { 00105 GetLog()->Error() 00106 << "(SoccerControlAspect) found no right goal collision recorder\n"; 00107 } 00108 00109 return node; 00110 } 00111 00112