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hearperceptor.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) 2004 RoboCup Soccer Server 3D Maintenance Group
00007 
00008    This program is free software; you can redistribute it and/or modify
00009    it under the terms of the GNU General Public License as published by
00010    the Free Software Foundation; version 2 of the License.
00011 
00012    This program is distributed in the hope that it will be useful,
00013    but WITHOUT ANY WARRANTY; without even the implied warranty of
00014    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015    GNU General Public License for more details.
00016 
00017    You should have received a copy of the GNU General Public License
00018    along with this program; if not, write to the Free Software
00019    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00020 */
00021 #include "hearperceptor.h"
00022 #include <soccer/agentstate/agentstate.h>
00023 #include <soccer/soccerbase/soccerbase.h>
00024 #include <soccer/gamestateaspect/gamestateaspect.h>
00025 //#include <soccer/soccertypes.h>
00026 
00027 using namespace oxygen;
00028 using namespace zeitgeist;
00029 using namespace std;
00030 
00031 HearPerceptor::HearPerceptor() : oxygen::Perceptor()
00032 {
00033 }
00034 
00035 HearPerceptor::~HearPerceptor()
00036 {
00037 }
00038 
00039 bool
00040 HearPerceptor::Percept(boost::shared_ptr<PredicateList> predList)
00041 {
00042     if ( 
00043         (mAgentState.get() == 0) ||
00044         (mGameState.get() == 0)
00045         )        
00046     {
00047         return false;
00048     }
00049 
00050     bool result = false;
00051 
00052     string message;
00053     float direction;
00054         
00055     if (mAgentState->GetSelfMessage(message))
00056     {
00057         string self = "self";
00058         Predicate& predicate = predList->AddPredicate();
00059         predicate.name = "hear";
00060         predicate.parameter.Clear();
00061         predicate.parameter.AddValue(mGameState->GetTime());
00062         predicate.parameter.AddValue(self);
00063         predicate.parameter.AddValue(message);
00064         result = true;
00065     }
00066 
00067     if (mAgentState->GetMessage(message, direction, true))
00068     {
00069         Predicate& predicate = predList->AddPredicate();
00070         predicate.name = "hear";
00071         predicate.parameter.Clear();
00072         predicate.parameter.AddValue(mGameState->GetTime());
00073         predicate.parameter.AddValue(direction);
00074         predicate.parameter.AddValue(message);
00075         result = true;
00076     }
00077 
00078     if (mAgentState->GetMessage(message, direction, false))
00079     {
00080         Predicate& predicate = predList->AddPredicate();
00081         predicate.name = "hear";
00082         predicate.parameter.Clear();
00083         predicate.parameter.AddValue(mGameState->GetTime());
00084         predicate.parameter.AddValue(direction);
00085         predicate.parameter.AddValue(message);
00086         result = true;
00087     }
00088 
00089     return result;
00090 }
00091 
00092 void
00093 HearPerceptor::OnLink()
00094 {
00095     SoccerBase::GetAgentState(*this, mAgentState);
00096     SoccerBase::GetGameState(*this, mGameState);
00097 }
00098 
00099 void
00100 HearPerceptor::OnUnlink()
00101 {
00102     mAgentState.reset();
00103     mGameState.reset();
00104 }

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