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: timeperceptor.cpp,v 1.1 2004/05/07 12:12:40 rollmark 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 "timeperceptor.h" 00023 #include <zeitgeist/logserver/logserver.h> 00024 00025 using namespace oxygen; 00026 using namespace zeitgeist; 00027 using namespace boost; 00028 using namespace std; 00029 00030 TimePerceptor::TimePerceptor() : Perceptor() 00031 { 00032 } 00033 00034 TimePerceptor::~TimePerceptor() 00035 { 00036 } 00037 00038 void TimePerceptor::OnLink() 00039 { 00040 mSimulationServer = shared_dynamic_cast<SimulationServer> 00041 (GetCore()->Get("/sys/server/simulation")); 00042 00043 if (mSimulationServer.get() == 0) 00044 { 00045 GetLog()->Error() 00046 << "(TimePerceptor) ERROR: SimulationServer not found\n"; 00047 } 00048 } 00049 00050 void TimePerceptor::OnUnlink() 00051 { 00052 mSimulationServer.reset(); 00053 } 00054 00055 bool TimePerceptor::Percept(boost::shared_ptr<oxygen::PredicateList> predList) 00056 { 00057 if (mSimulationServer.get() == 0) 00058 { 00059 return false; 00060 } 00061 00062 Predicate& predicate = predList->AddPredicate(); 00063 predicate.name = "time"; 00064 predicate.parameter.Clear(); 00065 00066 ParameterList& nowElement = predicate.parameter.AddList(); 00067 nowElement.AddValue(string("now")); 00068 nowElement.AddValue(mSimulationServer->GetTime()); 00069 00070 ParameterList& stepElement = predicate.parameter.AddList(); 00071 stepElement.AddValue(string("step")); 00072 stepElement.AddValue(mSimulationServer->GetSimStep()); 00073 00074 return true; 00075 } 00076 00077