00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022 #include "spadescreatesenseevent.h"
00023 #include "spadesserver.h"
00024 #include <spades/SenseEvent.hpp>
00025 #include <zeitgeist/logserver/logserver.h>
00026 #include <oxygen/agentaspect/agentaspect.h>
00027 #include <oxygen/gamecontrolserver/gamecontrolserver.h>
00028 #include <oxygen/gamecontrolserver/baseparser.h>
00029
00030 using namespace oxygen;
00031 using namespace spades;
00032 using namespace std;
00033 using namespace boost;
00034
00035 void SpadesCreateSenseEvent::Print (std::ostream & o) const
00036 {
00037 o << "SpadesCreateSenseEvent(" << getTime () << ") for " << getAgent();
00038 }
00039
00040 bool SpadesCreateSenseEvent::realizeEventWorldModel(spades::WorldModel* pWM)
00041 {
00042
00043
00044
00045 SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(pWM);
00046
00047 if (spadesServer == 0)
00048 {
00049
00050 return false;
00051 }
00052
00053 shared_ptr<GameControlServer> gcs(spadesServer->GetGameControlServer());
00054
00055 if (gcs.get() == 0)
00056 {
00057 spadesServer->GetLog()->Error()
00058 << "(SpadesCreateSenseEvent) GameControlServer not found.\n";
00059 return false;
00060 }
00061
00062
00063
00064
00065 float deltaSense = gcs->GetSenseInterval(static_cast<int>(getAgent()));
00066
00067
00068 int senseInterval = static_cast<int>(deltaSense / spadesServer->GetTimePerStep());
00069
00070
00071 SimEngine* simEngine = spadesServer->GetSimEngine();
00072 if (simEngine == 0)
00073 {
00074 spadesServer->GetLog()->Error()
00075 << "(SpadesCreateSenseEvent) spades SimEngine not found.\n";
00076 return false;
00077 }
00078
00079 SpadesCreateSenseEvent* event = new SpadesCreateSenseEvent
00080 (getTime() + senseInterval, getAgent());
00081
00082 simEngine->enqueueEvent(event);
00083
00084 return true;
00085 }
00086
00087 spades::SenseEvent* SpadesCreateSenseEvent::createSense(spades::WorldModel* p)
00088 {
00089 SpadesServer* spadesServer = dynamic_cast<SpadesServer*>(p);
00090 if (spadesServer == 0)
00091 {
00092 return 0;
00093 }
00094
00095 shared_ptr<GameControlServer> gcs(spadesServer->GetGameControlServer());
00096 if (gcs.get() == 0)
00097 {
00098 spadesServer->GetLog()->Error()
00099 << "(SpadesCreateSenseEvent) GameControlServer not found.\n";
00100 return 0;
00101 }
00102
00103 shared_ptr<BaseParser> parser = gcs->GetParser();
00104 if (parser.get() == 0)
00105 {
00106 spadesServer->GetLog()->Error()
00107 << "ERROR: (SpadesCreateSenseEvent) got no parser from "
00108 << " the GameControlServer" << endl;
00109 return 0;
00110 }
00111
00112
00113 int id = getAgent();
00114 shared_ptr<AgentAspect> agent = gcs->GetAgentAspect(id);
00115
00116 if (agent.get() == 0)
00117 {
00118 spadesServer->GetLog()->Error()
00119 << "ERROR: (SpadesCreateSenseEvent) got no AgentAspect for id "
00120 << id << " from the GameControlServer" << endl;
00121 return 0;
00122 }
00123
00124
00125
00126 shared_ptr<PredicateList> senseList = agent->QueryPerceptors();
00127 std::string senses = parser->Generate(senseList);
00128
00129
00130 float senseDelay = gcs->GetSenseLatency(getAgent());
00131
00132 SimTime senseArriveTime =
00133 getTime() +
00134 static_cast<int>(senseDelay / spadesServer->GetTimePerStep());
00135
00136
00137
00138
00139
00140 ThinkingType ttype = TT_Regular;
00141
00142 SenseEvent* event = new SenseEvent
00143 (ttype, getTime(), senseArriveTime, getAgent());
00144
00145 event->setData(senses);
00146
00147 return event;
00148 }