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SenseHandler Class Reference

#include <SenseHandler.h>

Collaboration diagram for SenseHandler:

[legend]List of all members.

Public Methods
	SenseHandler (Connection *c, WorldModel *wm, ServerSettings *ss, PlayerSettings *ps)
void	handleMessagesFromServer ()
void	setTimeSignal ()
bool	analyzeMessage (char *strMsg)
bool	analyzeSeeGlobalMessage (char *strMsg)
bool	analyzeFullStateMessage (char *strMsg)
bool	analyzeSeeMessage (char *strMsg)
bool	analyzeSenseMessage (char *strMsg)
bool	analyzeInitMessage (char *strMsg)
bool	analyzeHearMessage (char *strMsg)
bool	analyzePlayerMessage (int iTime, char *strMsg)
bool	analyzeCoachMessage (char *strMsg)
bool	analyzeChangePlayerTypeMessage (char *strMsg)
bool	analyzeServerParamMessage (char *strMsg)
bool	analyzeCheckBall (char *strMsg)
bool	analyzePlayerTypeMessage (char *strMsg)
bool	analyzePlayerParamMessage (char *strMsg)
bool	readServerParam (char *strParam, char *strMsg)
Private Attributes
WorldModel *	WM
ServerSettings *	SS
PlayerSettings *	PS
Connection *	connection
int	iTimeSignal
int	iTriCounter
int	m_iSeeCounter
int	iSimStep
itimerval	itv

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Detailed Description

Class SenseHandler receives input from a (Robocup Simulation) server (through an instance of Connection). The class contains methods to parse the incoming messages and sends these to the WorldModel accordingly. After this class is instantiated, a specific thread must call the function sense_callback. This thread will then automatically call handleMessagesFromServer() which loops forever. In this way all messages are received and parsed (since the receiveMessage from the Connection blocks till a message arrives). Other threads can think about the next action while the SenseHandler sends the new information to the WorldModel.

Definition at line 78 of file SenseHandler.h.

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Constructor & Destructor Documentation

SenseHandler::SenseHandler (  Connection *    c, WorldModel *    wm, ServerSettings *    ss, PlayerSettings *    ps )

Constructor for the SenseHandler. It needs a reference to a connection and a reference to a worldmodel. Parameters: c  Connection from which input is received wm  WorldModel to which new information will be sent for processing ss  ServerSettings that contain the parameters used by the server ps  PlayerSettings that determine how to interact with messages. Definition at line 84 of file SenseHandler.cpp. References connection, ServerSettings::getSimulatorStep(), iSimStep, iTimeSignal, itv, max(), min(), PS, SS, and WM.

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Member Function Documentation

bool SenseHandler::analyzeChangePlayerTypeMessage (  char *    strMsg )

This method analyzes the change player type message. This method checks whether the player that changed type equals the agent. When this is the case, it adjust the ServerSettings according to the values associated with this player type. Parameters: strMsg  string that contains the player type message. Returns: bool indicating whether player type of agent changed. Definition at line 732 of file SenseHandler.cpp. References WorldModel::getHeteroPlayerType(), SoccerTypes::getOpponentObjectFromIndex(), SoccerTypes::getTeammateObjectFromIndex(), ObjectT, Parse::parseFirstInt(), WorldModel::setHeteroPlayerType(), WorldModel::setSubstitutedOpp(), and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeCheckBall (  char *    strMsg )

This method analyzes the check_ball message that is only received by the coach. It sets the information in the Worldmodel what the status of the ball is. The format is as follows (check_ball <time> <status>). Parameters: strMsg  string that contains the check_ball message Returns: bool indicating whether update succeeded. Definition at line 718 of file SenseHandler.cpp. References SoccerTypes::getBallStatusFromStr(), Parse::parseFirstInt(), WorldModel::setCheckBallStatus(), WorldModel::setTimeCheckBall(), and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeCoachMessage (  char *    strMsg )

Definition at line 706 of file SenseHandler.cpp. Referenced by analyzeHearMessage().

bool SenseHandler::analyzeFullStateMessage (  char *    strMsg )

This method parses a full state message. This message contains all information from the playing field without noise. It will not be used during real tournaments. Definition at line 364 of file SenseHandler.cpp. References AngDeg, CMD_CATCH, CMD_CHANGEVIEW, CMD_DASH, CMD_KICK, CMD_MOVE, CMD_POINTTO, CMD_SAY, CMD_TURN, CMD_TURNNECK, WorldModel::getAgentObjectType(), WorldModel::getCurrentTime(), SoccerTypes::getObjectFromStr(), SoccerTypes::getPlayModeFromRefereeMessage(), SoccerTypes::getRefereeMessageFromStr(), WorldModel::getSide(), Time::getTime(), SoccerTypes::getViewAngleFromStr(), SoccerTypes::getViewQualityFromStr(), Parse::gotoFirstOccurenceOf(), WorldModel::isBeforeKickOff(), VecPosition::normalizeAngle(), OBJECT_BALL, ObjectT, Parse::parseFirstDouble(), Parse::parseFirstInt(), PlayModeT, PM_ILLEGAL, WorldModel::processNewAgentInfo(), WorldModel::processSeeGlobalInfo(), RefereeMessageT, WorldModel::setNrOfCommands(), WorldModel::setPlayMode(), WorldModel::setTimeLastSeeGlobalMessage(), WorldModel::setTimeLastSenseMessage(), SIDE_LEFT, SIDE_RIGHT, WorldModel::strLastSeeMessage, UnknownAngleValue, UnknownDoubleValue, Time::updateTime(), ViewAngleT, ViewQualityT, and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeHearMessage (  char *    strMsg )

This method analyzes a hear message. When the message is from the referee the message is parsed and the new play mode is set or the goal difference is adjusted. When the message comes from another player the method analyzePlayerMessage is called A hear message looks like (hear 0 self|referee|dir message) Parameters: strMsg  message that should be parsed Returns: bool indicating whether the message was parsed correctly. Definition at line 569 of file SenseHandler.cpp. References WorldModel::addOneToGoalDiff(), analyzeCoachMessage(), analyzePlayerMessage(), SoccerTypes::getPlayModeFromRefereeMessage(), SoccerTypes::getRefereeMessageFromStr(), SoccerTypes::getRefereeMessageStr(), WorldModel::getSide(), Parse::gotoFirstNonSpace(), Parse::gotoFirstOccurenceOf(), OBJECT_BALL, Parse::parseFirstInt(), PlayModeT, PM_FROZEN, PM_ILLEGAL, WorldModel::processCatchedBall(), WorldModel::processSeeGlobalInfo(), REFC_GOAL_LEFT, REFC_GOAL_RIGHT, REFC_GOALIE_CATCH_BALL_LEFT, REFC_GOALIE_CATCH_BALL_RIGHT, REFC_PENALTY_FOUL_LEFT, REFC_PENALTY_FOUL_RIGHT, REFC_PENALTY_MISS_LEFT, REFC_PENALTY_MISS_RIGHT, REFC_PENALTY_ONFIELD_LEFT, REFC_PENALTY_ONFIELD_RIGHT, REFC_PENALTY_SCORE_LEFT, REFC_PENALTY_SCORE_RIGHT, RefereeMessageT, WorldModel::setPlayMode(), WorldModel::setSidePenalty(), WorldModel::setTimeLastRefereeMessage(), SIDE_LEFT, SIDE_RIGHT, WorldModel::strLastHearMessage, WorldModel::subtractOneFromGoalDiff(), and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeInitMessage (  char *    strMsg )

This method analyzes an init message. All information from the initialization is parsed and updated in the WorldModel. An init message looks like (init [l|r] 10 before_kick_off) Parameters: strMsg  message that should be parsed Returns: bool indicating whether the message was parsed correctly. Definition at line 542 of file SenseHandler.cpp. References SoccerTypes::getPlayModeFromStr(), SoccerTypes::getSideFromStr(), SoccerTypes::getTeammateObjectFromIndex(), Parse::parseFirstInt(), WorldModel::setAgentObjectType(), WorldModel::setPlayerNumber(), WorldModel::setPlayMode(), WorldModel::setSide(), and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeMessage (  char *    strMsg )

This method analyzes the type of the incoming message and calls the message that corresponds to this message. Parameters: strMsg  message that should be parsed. Returns: bool indicating whether the message was parsed or not Definition at line 194 of file SenseHandler.cpp. References analyzeChangePlayerTypeMessage(), analyzeCheckBall(), analyzeFullStateMessage(), analyzeHearMessage(), analyzeInitMessage(), analyzePlayerParamMessage(), analyzePlayerTypeMessage(), analyzeSeeGlobalMessage(), analyzeSeeMessage(), analyzeSenseMessage(), analyzeServerParamMessage(), WorldModel::getCurrentCycle(), WorldModel::getCurrentTime(), WorldModel::getPlayerNumber(), WorldModel::isFullStateOn(), WorldModel::processRecvThink(), WorldModel::updateAfterSenseMessage(), and WM. Referenced by handleMessagesFromServer().

bool SenseHandler::analyzePlayerMessage (  int    iTime, char *    strMsg )

This message analyzes an incoming communication message. Messages from opponents are discarded. First it is checked whether the message arrived from a teammate using a specific encoding string and then the contents are parsed and stored in the world model, which will process it when it updates the world model. Parameters: iTime  time from the message Definition at line 654 of file SenseHandler.cpp. References WorldModel::getPlayerNumber(), Parse::gotoFirstNonSpace(), Parse::parseFirstInt(), WorldModel::storePlayerMessage(), and WM. Referenced by analyzeHearMessage().

bool SenseHandler::analyzePlayerParamMessage (  char *    strMsg )

This method analyzes the player_param message that indicates the ranges of the possible values for the heterogeneous player types. Nothing is done with this information. Parameters: strMsg  string that contains the player_param message. \bool will always be true. Definition at line 930 of file SenseHandler.cpp. References readServerParam(). Referenced by analyzeMessage().

bool SenseHandler::analyzePlayerTypeMessage (  char *    strMsg )

This method analyze a player type message. This message contains the values associated with a specific heterogeneous player type. The values are parsed from the message and supplied to the WorldModel method processNewHeteroPlayer. Parameters: strMsg  string that contains the player type information Returns: bool indicating whether the message was parsed correctly. Definition at line 899 of file SenseHandler.cpp. References Parse::parseFirstDouble(), Parse::parseFirstInt(), WorldModel::processNewHeteroPlayer(), and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeSeeGlobalMessage (  char *    strMsg )

This method analyzes a see Message. All information from the different objects that is stored in a see message is send to worldmodel. A see message looks like(see 0 ((g r) 64.1 13) ((f r t) 65.4 -16) .... Parameters: strMsg  message that should be parsed Returns: bool indicating whether the message was parsed correctly. Definition at line 307 of file SenseHandler.cpp. References AngDeg, WorldModel::getCurrentTime(), SoccerTypes::getObjectFromStr(), WorldModel::getTeamName(), Parse::gotoFirstOccurenceOf(), OBJECT_ILLEGAL, ObjectT, Parse::parseFirstDouble(), Parse::parseFirstInt(), WorldModel::processSeeGlobalInfo(), WorldModel::setTimeLastSeeGlobalMessage(), WorldModel::strLastSeeMessage, UnknownAngleValue, UnknownDoubleValue, Time::updateTime(), and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeSeeMessage (  char *    strMsg )

This method analyzes a see Message. It gets the time from the message and tries to synchronize with the server. Then the message is stored in the world model, which processes it when it performs an update. Returns: bool indicating whether the message was parsed correctly. Definition at line 259 of file SenseHandler.cpp. References WorldModel::getAgentViewFrequency(), WorldModel::getRelativeDistance(), Time::getTime(), Time::getTimeDifference(), WorldModel::getTimeLastRecvSenseMessage(), WorldModel::getTimeLastSeeMessage(), ServerSettings::getVisibleDistance(), iTriCounter, m_iSeeCounter, OBJECT_BALL, Parse::parseFirstInt(), WorldModel::setTimeLastSeeMessage(), SS, WorldModel::strLastSeeMessage, and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeSenseMessage (  char *    strMsg )

This method analyzes a sense message. All information from the player is parsed and updated in the WorldModel. A sense message looks like (sense_body 0 (view_mode high normal) (stamina 2000 1) (speed 0 0) (head_angle 0) (kick 0) (dash 0) (turn 0) (say 0) (turn_neck 0) (catch 0) (move 0) (change_view 0)) Parameters: strMsg  message that should be parsed Returns: bool indicating whether the message was parsed correctly. Definition at line 501 of file SenseHandler.cpp. References WorldModel::getCurrentTime(), WorldModel::getRelativeDistance(), ServerSettings::getSimulatorStep(), ServerSettings::getSynchMode(), Time::getTime(), Time::getTimeDifference(), Time::getTimeStopped(), ServerSettings::getVisibleDistance(), iSimStep, iTimeSignal, OBJECT_BALL, Parse::parseFirstInt(), WorldModel::setTimeLastSenseMessage(), setTimeSignal(), SS, WorldModel::strLastSenseMessage, Time::updateTime(), and WM. Referenced by analyzeMessage().

bool SenseHandler::analyzeServerParamMessage (  char *    strMsg )

This method analyzes the server_param message. This message contains all the server parameters. All settings of the ServerSettings are changed according to the supplied values. This makes the reading from a server configuration file obsolete. Parameters: strMsg  string message with all the server parameters Returns: booli indicating whether string was parsed. Definition at line 762 of file SenseHandler.cpp. References ServerSettings::getBallSize(), ServerSettings::getKickableMargin(), ServerSettings::getPlayerSize(), readServerParam(), ServerSettings::setMaximalKickDist(), and SS. Referenced by analyzeMessage().

void SenseHandler::handleMessagesFromServer (    )

This is the main routine of this class. It loops forever (till the thread is destroyed) and receives and parses the incoming messages. Definition at line 123 of file SenseHandler.cpp. References analyzeMessage(), connection, MAX_MSG, and Connection::receiveMessage(). Referenced by sense_callback().

bool SenseHandler::readServerParam (  char *    strParam, char *    strMsg )

Definition at line 867 of file SenseHandler.cpp. References WorldModel::getPlayerNumber(), ServerSettings::setValue(), SS, and WM. Referenced by analyzePlayerParamMessage(), and analyzeServerParamMessage().

void SenseHandler::setTimeSignal (    )

This method sets the time signal. This is the time that should be waited before the next action should be sent to the server. As soon as a sense message arrives this method is called. Using the information from the member variable 'iTriCounter' which denotes when the see message will arrive in this cycle (0=first half, 1=2nd half, 2=no see, all for the default view frequency) the timer is set. The values that denote the fraction of the simulation step that is waited are all defined in PlayerSettings, such that they can be easily changed. Definition at line 148 of file SenseHandler.cpp. References WorldModel::getAgentViewFrequency(), PlayerSettings::getFractionWaitNoSee(), PlayerSettings::getFractionWaitSeeBegin(), PlayerSettings::getFractionWaitSeeEnd(), iSimStep, iTimeSignal, iTriCounter, itv, PS, and WM. Referenced by analyzeSenseMessage().

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Member Data Documentation

Connection* SenseHandler::connection [private]

Connection with server to receive messages Definition at line 82 of file SenseHandler.h. Referenced by handleMessagesFromServer(), and SenseHandler().

int SenseHandler::iSimStep [private]

Length (microsec) of server cycles Definition at line 86 of file SenseHandler.h. Referenced by analyzeSenseMessage(), SenseHandler(), and setTimeSignal().

int SenseHandler::iTimeSignal [private]

Wait time (microsec) before sense calls act Definition at line 83 of file SenseHandler.h. Referenced by analyzeSenseMessage(), SenseHandler(), and setTimeSignal().

int SenseHandler::iTriCounter [private]

Indicates when see message will arive Definition at line 84 of file SenseHandler.h. Referenced by analyzeSeeMessage(), and setTimeSignal().

struct itimerval SenseHandler::itv [private]

timer used to set alarm to send action Definition at line 91 of file SenseHandler.h. Referenced by SenseHandler(), and setTimeSignal().

int SenseHandler::m_iSeeCounter [private]

! Used to count number of see msg in 1 cycle Definition at line 85 of file SenseHandler.h. Referenced by analyzeSeeMessage().

PlayerSettings* SenseHandler::PS [private]

PlayerSettings with all client settings Definition at line 81 of file SenseHandler.h. Referenced by SenseHandler(), and setTimeSignal().

ServerSettings* SenseHandler::SS [private]

ServerSettings with all server settings Definition at line 80 of file SenseHandler.h. Referenced by analyzeSeeMessage(), analyzeSenseMessage(), analyzeServerParamMessage(), readServerParam(), and SenseHandler().

WorldModel* SenseHandler::WM [private]

Worldmodel containing all data of the match Definition at line 79 of file SenseHandler.h. Referenced by analyzeChangePlayerTypeMessage(), analyzeCheckBall(), analyzeFullStateMessage(), analyzeHearMessage(), analyzeInitMessage(), analyzeMessage(), analyzePlayerMessage(), analyzePlayerTypeMessage(), analyzeSeeGlobalMessage(), analyzeSeeMessage(), analyzeSenseMessage(), readServerParam(), SenseHandler(), and setTimeSignal().

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The documentation for this class was generated from the following files:

• SenseHandler.h
• SenseHandler.cpp

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