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timeperceptor.cpp

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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: 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 

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