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: simulationserver.h,v 1.3 2004/12/22 15:58:26 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 #ifndef OXYGEN_SIMULATIONSERVER_H 00023 #define OXYGEN_SIMULATIONSERVER_H 00024 00025 #include <zeitgeist/node.h> 00026 00027 namespace oxygen 00028 { 00029 class GameControlServer; 00030 class MonitorServer; 00031 class SceneServer; 00032 class SimControlNode; 00033 00034 class SimulationServer : public zeitgeist::Node 00035 { 00042 public: 00043 enum EControlEvent 00044 { 00045 CE_Init, // the simulation is initially started 00046 CE_Done, // the simulation is shut down 00047 CE_StartCycle, // a new cycle of the simulation loop 00048 // started 00049 CE_SenseAgent, // collect sensor data and send it to the 00050 // agents 00051 CE_ActAgent, // collect (and possibly wait for) agent 00052 // commands and carry them out 00053 CE_EndCycle // the current cycle ended 00054 }; 00055 00056 public: 00057 SimulationServer(); 00058 ~SimulationServer(); 00059 00061 static void Quit(); 00062 00064 virtual float GetTime(); 00065 00067 virtual void SetSimStep(float deltaTime); 00068 00070 virtual float GetSimStep(); 00071 00075 virtual void AdvanceTime(float deltaTime); 00076 00079 virtual float GetSumDeltaTime(); 00080 00083 bool InitControlNode(const std::string& className, const std::string& name); 00084 00091 void SetAutoTimeMode(bool set); 00092 00094 bool GetAutoTimeMode(); 00095 00097 boost::shared_ptr<oxygen::SimControlNode> 00098 GetControlNode(const std::string& controlName); 00099 00101 int GetArgC(); 00102 00104 char** GetArgV(); 00105 00107 virtual void Run(int argc = 0, char** argv = 0); 00108 00110 boost::shared_ptr<MonitorServer> GetMonitorServer(); 00111 00113 boost::shared_ptr<GameControlServer> GetGameControlServer(); 00114 00116 boost::shared_ptr<SceneServer> GetSceneServer(); 00117 00119 int GetCycle(); 00120 00121 protected: 00122 virtual void OnLink(); 00123 virtual void OnUnlink(); 00124 00127 virtual void Step(); 00128 00129 protected: 00134 void ControlEvent(EControlEvent event); 00135 00137 static void CatchSignal(int sig_num); 00138 00139 protected: 00141 int mArgC; 00142 00144 char** mArgV; 00145 00147 static bool mExit; 00148 00150 float mSimTime; 00151 00154 float mSimStep; 00155 00158 float mSumDeltaTime; 00159 00163 bool mAutoTime; 00164 00166 int mCycle; 00167 00169 boost::shared_ptr<MonitorServer> mMonitorServer; 00170 00172 boost::shared_ptr<GameControlServer> mGameControlServer; 00173 00175 boost::shared_ptr<SceneServer> mSceneServer; 00176 }; 00177 00178 DECLARE_CLASS(SimulationServer); 00179 00180 } // namespace oxygen 00181 00182 #endif // OXYGEN_SIMULATIONSERVER_H