coach_agent.h

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// -*-c++-*-
 
/*
 *Copyright:
 
 Copyright (C) Hidehisa AKIYAMA
 
 This code is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 3 of the License, or (at your option) any later version.
 
 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.
 
 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 
 *EndCopyright:
 */
 
 
#ifndef RCSC_COACH_COACH_AGENT_H
#define RCSC_COACH_COACH_AGENT_H
 
#include <rcsc/coach/coach_world_model.h>
#include <rcsc/coach/coach_debug_client.h>
#include <rcsc/coach/coach_config.h>
#include <rcsc/common/freeform_message.h>
#include <rcsc/common/soccer_agent.h>
#include <rcsc/common/team_graphic.h>
 
#include <memory>
#include <string>
#include <set>
 
namespace rcsc {
 
class CLangMessage;
class CoachAudioSensor;
class CoachCommand;
class GlobalVisualSensor;
class SayMessageParser;
 
class CoachAgent
    : public SoccerAgent {
private:
 
    struct Impl; 
 
    std::unique_ptr< Impl > M_impl;
 
protected:
 
    CoachConfig M_config;
 
    CoachDebugClient M_debug_client;
 
    CoachWorldModel M_worldmodel;
 
public:
    CoachAgent();
    virtual
    ~CoachAgent();
 
    virtual
    std::shared_ptr< AbstractClient > createConsoleClient();
 
    void finalize();
 
    const
    CoachConfig & config() const
      {
          return M_config;
      }
 
 
    CoachDebugClient & debugClient()
      {
          return M_debug_client;
      }
 
    const CoachWorldModel & world() const
      {
          return M_worldmodel;
      }
 
    const CoachVisualSensor & visualSensor() const;
 
    const CoachAudioSensor & audioSensor() const;
 
    const std::set< TeamGraphic::Index > & teamGraphicOKSet() const;
 
    bool doCheckBall();
 
    bool doLook();
 
    bool doTeamNames();
 
    //bool doTeamGraphic();
 
    bool doEye( bool on );
 
    bool doChangePlayerType( const int unum,
                             const int type );
 
    bool doChangePlayerTypes( const std::vector< std::pair< int, int > > & types );
 
    /*
      \brief send freeform message by say command
      \return true if command is generated and sent
    */
    // bool doSayFreeform( const std::string & msg );
 
    void addFreeformMessage( FreeformMessage::Ptr message );
 
    bool removeFreeformMessage( const std::string & type );
 
    void doSendCLang( const CLangMessage * msg );
 
    bool doTeamGraphic( const int x,
                        const int y,
                        const TeamGraphic & team_graphic );
 
private:
 
    void parse( const char * msg );
 
    void action();
 
    bool sendCommand( const CoachCommand & com );
 
protected:
 
    virtual
    bool initImpl( CmdLineParser & cmd_parser );
 
    virtual
    bool handleStart();
 
    virtual
    bool handleStartOffline();
 
    virtual
    void handleMessage();
 
 
    virtual
    void handleMessageOffline();
 
    virtual
    void handleTimeout( const int timeout_count,
                        const int waited_msec );
 
    virtual
    void handleExit();
 
    //
    //
    //
 
    virtual
    void actionImpl() = 0;
 
 
    virtual
    void handleActionStart()
      { }
 
    virtual
    void handleActionEnd()
      { }
 
    virtual
    void handleInitMessage()
      { }
 
    virtual
    void handleServerParam()
      { }
 
    virtual
    void handlePlayerParam()
      { }
 
    virtual
    void handlePlayerType()
      { }
 
    void addSayMessageParser( SayMessageParser * parser );
 
    void removeSayMessageParser( const char header );
 
};
 
}
 
#endif