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ActHandler.cpp

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/*
Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

3. Neither the name of the University of Amsterdam nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include "ActHandler.h"

#ifndef WIN32
  #include <poll.h>     // poll
  #include <sys/poll.h> // poll
#endif
#include <signal.h>     // SIGALARM

ActHandler* ACT; 
#ifdef WIN32
extern void CALLBACK sigalarmHandler(UINT , UINT , DWORD , DWORD , DWORD )
#else
extern void sigalarmHandler( int i )
#endif
{
  Log.logFromSignal( 2, "alarm handler!!" );
  ACT->sendCommands( );
}

ActHandler::ActHandler( Connection *c, WorldModel *wm, ServerSettings *ss )
{
  connection          = c;
  SS                  = ss;
  WM                  = wm;

  m_iMultipleCommands = 0;
  ACT                 = this; // needed to let signal call method from class
}

void ActHandler::emptyQueue( )
{
  m_queueOneCycleCommand.commandType = CMD_ILLEGAL;
  for( int i = 0; i < CMD_MAX_COMMANDS - 1 ; i ++ )
    m_queueMultipleCommands[i].commandType = CMD_ILLEGAL;
  m_iMultipleCommands=0;
}

bool ActHandler::isQueueEmpty()
{
  return m_queueOneCycleCommand.commandType == CMD_ILLEGAL &&
         m_iMultipleCommands                == 0;
}

bool ActHandler::sendCommands( )
{
  static Time timeLastSent = -1;
  bool        bNoOneCycle  = false;
  char        strCommand[MAX_MSG];
  strCommand[0]            = '\0';

  if( WM->getCurrentTime() == timeLastSent )
  {
    Log.logFromSignal( 2, " already sent message; don't send" );
    return false;
  }

  if(  WM->isQueuedActionPerformed()    == false &&   // don't send action when
     m_queueOneCycleCommand.commandType != CMD_CATCH && // previous one is not
     WM->isFullStateOn() == false )                     // fullstate sense not
  {                                                     // not processed yet
    Log.logFromSignal( 2, " previous message not processed yet; don't send" );
    return false;                                    // except with catch since
  }                                                  // too important

  // make string of primary action and put it in 'strCommand' variable
  bool bReturn = m_queueOneCycleCommand.getCommandString( strCommand, SS );

  if( bReturn == false )
    cerr << WM->getCurrentCycle() << ", " <<  WM->getPlayerNumber() << " " 
         << "Acthandler::failed to create primary command string" << endl;

  if( strCommand[0] == '\0' )
  {
    bNoOneCycle = true;
    Log.logFromSignal( 2, " no primary action in queue" );
  }

  // make string of all other commands and add them to the end of 'strCommand'
  for( int i = 0; i < m_iMultipleCommands ; i ++ )
  {
    bReturn = m_queueMultipleCommands[i].getCommandString(
                                         &strCommand[strlen(strCommand)], SS );
    if( bReturn == false )
      cerr << WM->getCurrentCycle() << ", " <<  WM->getPlayerNumber() << " "
         << "Acthandler::failed to create secondary command string " <<
        m_queueMultipleCommands[i].commandType <<  endl;
  }

  char strComm[MAX_SAY_MSG];
  strcpy( strComm, WM->getCommunicationString() );
  if( strlen( strComm ) != 0 )
  {
    sprintf( &strCommand[strlen(strCommand)], "(say \"%s\")", strComm );
    WM->setCommunicationString( "" );
  }

  // send the string to the server (example string: (dash 100)(turn_neck -19))
  if( strCommand[0] != '\0' )
  {
    timeLastSent        = WM->getCurrentTime();
    connection->sendMessage( strCommand );
    Log.logFromSignal( 2, " send queued action to server: %s", strCommand);
  }
  else
  {
    Log.logFromSignal( 2, " no action in queue??" );
    return false;
  }

  if( ! bNoOneCycle ) // if primary action was send, place it at end of array
    m_queueMultipleCommands[m_iMultipleCommands++] = m_queueOneCycleCommand;

  // let worldmodel know which commands were sent to the server
  WM->processQueuedCommands( m_queueMultipleCommands, m_iMultipleCommands );
  m_iMultipleCommands = 0;

  // decrease amount of times primary action still has to be sent, if 0 delete
  // it, furthermore set number of multiple commands to zero
  if( --m_queueOneCycleCommand.iTimes  == 0 )
    m_queueOneCycleCommand.commandType = CMD_ILLEGAL;

  for( int i = 0; i < CMD_MAX_COMMANDS; i++ )
    m_queueMultipleCommands[i].commandType = CMD_ILLEGAL;

  return true;
}


SoccerCommand ActHandler::getPrimaryCommand(  )
{
  return m_queueOneCycleCommand;
}

bool ActHandler::putCommandInQueue( SoccerCommand command )
{
  int i;
  bool bOverwritten = false;

  if( command.commandType == CMD_ILLEGAL )
    return false;
  if( SoccerTypes::isPrimaryCommand( command.commandType ) )
    m_queueOneCycleCommand = command;           // overwrite primary command
  else                                          // non-primary command
  {
    for( i = 0; i < m_iMultipleCommands ; i ++ )
      if( m_queueMultipleCommands[i].commandType == command.commandType )
      {
        m_queueMultipleCommands[i] = command;   // if command already in queue
        bOverwritten = true;                    // overwrite it
      }

    // 1 less to save space for primary command
    if( bOverwritten == false && m_iMultipleCommands == CMD_MAX_COMMANDS-1 )
    {
      cerr << "(ActHandler::putCommandInQueue) too many commands" << endl;
      return false;
    }
    if( bOverwritten == false  ) // add it when command was not yet in queue
      m_queueMultipleCommands[m_iMultipleCommands++] = command;
  }

  return true;
}

bool ActHandler::sendCommand( SoccerCommand soc )
{
  char strCommand[MAX_MSG];
  soc.getCommandString( strCommand, SS );
  return sendMessage( strCommand );
}

bool ActHandler::sendMessage( char * str )
{
  emptyQueue( );
#ifdef WIN32
  Sleep( SS->getSimulatorStep() );
#else
  poll( 0, 0, SS->getSimulatorStep() );
#endif

  bool bReturn = connection->sendMessage( str );
  Log.logFromSignal( 2, " send message to server and wait: %s", str);

#ifdef WIN32
  Sleep( SS->getSimulatorStep() );
#else
  poll( 0, 0, SS->getSimulatorStep() );
#endif
  return bReturn;
}

bool ActHandler::sendCommandDirect( SoccerCommand soc )
{
  char strCommand[MAX_MSG];
  if( soc.commandType == CMD_ILLEGAL )
    return false;
  soc.getCommandString( strCommand, SS );
  return sendMessageDirect( strCommand );
}

bool ActHandler::sendMessageDirect( char * str )
{
  bool bReturn = connection->sendMessage( str );
  Log.logFromSignal( 2, " send message to server directly: %s", str);
  return bReturn;
}

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