/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  This program is free software, you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation. * *  This program 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 Library General Public License for more details. * *  This file is created by: Mohammad Salehe *  and is modified by: Darioush Jalali * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#ifndef __BASIC_COACH_H#define __BASIC_COACH_H#include <iostream>#include "SignalsMask.h"#include "Connection.h"#include "CoachWorldModel.h"#include "SignalHandled.h"#include "Trainer.h"#ifndef NULL#	define NULL 0#endif // NULLclass Command;class SExpression;class BasicCoach: public SignalHandled{protected:	bool isTrainer;	Trainer *trainer;			Connection *connection;	CoachWorldModel *worldModel;	CoachWorldModelHistory worldModelHistory;	Command *freeFormCycleCommand;	Command *changePlayerCycleCommand;	int curReceiveMS;	int sigAlarmCounter;/*	bool freeFormCycleCommandDecidePermittedFlag;	bool CycleCommandSendPermittedFlag;	bool headCycleCommandDecidePermittedFlag;	bool headCycleCommandSendPermittedFlag;*/	void setConfigDefaults();	void initOnlineConnection();	void closeOnlineConnection();/*	void initVirtualConnection();	void closeVirtualConnection();*//*	void offlinePlayerManager();	bool initOfflinePlayerInputLog(std::ifstream &inputLog);	int parseOfflinePlayerLogLine(std::ifstream &inputLog,			std::string &title, std::string &message);	virtual void logEndInf() = 0;*/	virtual void ok         (const SExpression &exp);	virtual void okTeamNames(const SExpression &exp);	virtual void seeGlobal(const SExpression &exp);	virtual void fullState(const SExpression &exp);	virtual void hear(const SExpression &exp);	virtual void serverParam(const SExpression &exp);	virtual void playerParam(const SExpression &exp);	virtual void playerType(const SExpression &exp);	virtual void init(const SExpression &exp);	virtual void think(const SExpression &exp);	virtual void changePlayerType(const SExpression &exp);		virtual bool decide() = 0;	virtual bool synchronize() = 0;private:	void updateTeamNames();public:	BasicCoach(int argc, char **argv);	virtual ~BasicCoach();	virtual void run();	virtual bool sigAlrmHandler();	virtual bool sigIntHandler();	virtual bool sigIOHandler();	virtual bool sigKillHandler();	virtual bool sigQuitHandler();	virtual bool sigSegVHandler();	virtual bool sigTermHandler();	virtual SignalsMask signalsMask();	virtual void sigAlrmTiming(long &begin, long &interval);	// Getting functions/*	bool isBodyCycleCommandDecidePermitted() const;	bool isBodyCycleCommandSendPermitted() const;	bool isHeadCycleCommandDecidePermitted() const;	bool isHeadCycleCommandSendPermitted() const;*/	const WorldModel &getWorldModel() const;	// Setting functions/*	void setBodyCycleCommandDecidePermitted(bool bodyCycleCommandDecidePermittedFlagArg);	void setBodyCycleCommandSendPermitted(bool bodyCycleCommandSendPermittedFlagArg);	void setHeadCycleCommandDecidePermitted(bool headCycleCommandDecidePermittedFlagArg);	void setHeadCycleCommandSendPermitted(bool headCycleCommandSendPermittedFlagArg);*/};#endif // __BASIC_COACH_H