/* *  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: Ahmad Boorghany * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <assert.h>#include <iostream>#include <sstream>#include <fstream>#include <Config.h>#include <Logger.h>#include <Command.h>#include <BasicAgent.h>#include <SExpression.h>#include <SignalHandler.h>#include <OnlineConnection.h>#include <VirtualConnection.h>using namespace std;BasicAgent::BasicAgent(int argc, char **argv){	setConfigDefaults();	config["Agent"].setByFile("./Configs/Agent.conf");	if (!config["Agent"].setByArguments(argc, argv))		exit(1);	worldModel = new WorldModel();	sayCycleCommand = NULL;	bodyCycleCommand = NULL;	headCycleCommand = NULL;	pointToCycleCommand = NULL;	attentionCycleCommand = NULL;	changeViewCycleCommand = NULL;	lastBodyCycleCommand = new EmptyCommand(AT_NONE);	setBodyCycleCommandDecidePermitted(true);	setBodyCycleCommandSendPermitted(true);	setHeadCycleCommandDecidePermitted(true);	setHeadCycleCommandSendPermitted(true);}BasicAgent::~BasicAgent(){	delete worldModel;}void BasicAgent::run(){	if (config["Agent"]["Server"]["OfflinePlayer"].asBool())	{		initVirtualConnection();		offlinePlayerManager();		closeVirtualConnection();	}	else	{		SignalHandler::initSignalHandlers(this);		initOnlineConnection();		SignalHandler::run();		SignalHandler::finalSignalHandlers();		closeOnlineConnection();	}}void BasicAgent::senseBody(const SExpression &exp){	unsigned curCycle;	SExpAtomic *at;	logEndInf();	at = dynamic_cast<SExpAtomic *>(exp[1]);	assert(at);	curCycle = at->asInt();	worldModel->setTimer().resetCycle(curCycle);	LOG.newCycle();	DRAW.newCycle();	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;	worldModel->setCurTime(worldModel->getCurTime() + 1);	worldModel->setBody().parseSenseBody(exp, worldModel->getFieldSide());	checkForLosts();	if (!isBodyCycleCommandLost())		worldModel->setBody().simulateByAction(bodyCycleCommand, true);	worldModel->setBody().simulateByDynamics(true);	worldModel->setBody().completeParseSenseBody();	const Body lastBody = worldModel->getBody(); // for ball simulate	if (!isBodyCycleCommandLost())		worldModel->simulateObjects(lastBody, bodyCycleCommand);	else		worldModel->simulateObjects(lastBody, NULL);	worldModel->setCurCycle(worldModel->getBody().getSenseBodyCycle());	worldModel->updateSeeDeltaCyclesAfterSenseBody();	worldModel->updatePlayModeRemainCycleAfterSenseBody();	worldModel->updateAfterSenseBody();	worldModel->logObjects();}void BasicAgent::see(const SExpression &exp){	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;	worldModel->resetObjects();	worldModel->parseSee(exp);	worldModel->updateObjects();	worldModel->updateSeeDeltaCyclesAfterSee();	worldModel->logObjects();}void BasicAgent::hear(const SExpression &exp){	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;	worldModel->parseHear(exp);}void BasicAgent::fullState(const SExpression &exp){	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;}void BasicAgent::serverParam(const SExpression &exp){	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;	worldModel->initServerParam(exp);}void BasicAgent::playerParam(const SExpression &exp){	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;	worldModel->initPlayerParam(exp);}void BasicAgent::playerType(const SExpression &exp){	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;	worldModel->initPlayerType(exp);}void BasicAgent::init(const SExpression &exp){	string logFileName, offLogFileName;	SExpAtomic *at;	int bodyUniNum;	at = dynamic_cast<SExpAtomic *>(exp[0]);	assert(at);	assert(at->toString() == "init");	at = dynamic_cast<SExpAtomic *>(exp[1]);	assert(at);	if (at->toString()[0] == 'l')		worldModel->setFieldSide(SI_LEFT);	else	{		assert(at->toString()[0] == 'r');		worldModel->setFieldSide(SI_RIGHT);	}	at = dynamic_cast<SExpAtomic *>(exp[2]);	assert(at);	assert(at->asInt() <= FULL_PLAYERS_NUM);	bodyUniNum = at->asInt();	worldModel->setBody().setUniNum(bodyUniNum);	worldModel->setBody().setGoalie(			config["Agent"]["Public"]["IsGoalie"].asBool());	worldModel->replaceBodyInPlayersList(bodyUniNum);	at = dynamic_cast<SExpAtomic *>(exp[3]);	assert(at);	assert(at->toString() == "before_kick_off");	// Initing log file	if ((config["Agent"]["AgentLog"]			   ["OutputLogAddress"].asString().end() - 1)[0] != '/')		logFileName = "/";	else		logFileName = "";	logFileName += config["Agent"]["Public"]["TeamName"].asString();	if (bodyUniNum < 10)		logFileName += (char)('0' + bodyUniNum);	else		logFileName += (char)('A' + bodyUniNum - 10);	logFileName += ".log";	if (config["Agent"]["AgentLog"]["LogToFile"].asBool())		logger.add("MainLog", new LogFile(				config["Agent"]["AgentLog"]					  ["OutputLogAddress"].asString() + logFileName,				&worldModel->getTimer()));	else		logger.add("MainLog", new LogNull());	offLogFileName = logFileName + ".off";	if (config["Agent"]["AgentLog"]["OffLogToFile"].asBool())		logger.add("OfflineLog", new LogFile(				config["Agent"]["AgentLog"]					  ["OutputLogAddress"].asString() + offLogFileName,				&worldModel->getTimer()));	else		logger.add("OfflineLog", new LogNull());	string drawLogFileName = logFileName + ".draw";	if (config["Agent"]["AgentLog"]["DrawLogToFile"].asBool())		logger.add("DrawLog", new LogFile(				config["Agent"]["AgentLog"]					  ["DrawLogAddress"].asString() + drawLogFileName,				&worldModel->getTimer()));	else		logger.add("DrawLog", new LogNull());	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;	cout << "Player " << bodyUniNum << " connected." << endl;	if (logger["MainLog"].isOutValid())		cout << "    Log: " << config["Agent"]["AgentLog"]			["OutputLogAddress"].asString() + logFileName << endl;	if (logger["OfflineLog"].isOutValid())		cout << "    OffLog: " << config["Agent"]["AgentLog"]			["OutputLogAddress"].asString() + offLogFileName << endl;	Command *clangVer = new CLangVersionCommand(AT_BASIC_AGENT, 7, 9);	LOG << "SendStr: " << clangVer->toString() << endl;	connection->send(clangVer);	delete clangVer;}void BasicAgent::think(const SExpression &exp){	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;}void BasicAgent::changePlayerType(const SExpression &exp){	LOG << "RecStr: " << exp.toString() << endl;	OFFLOG << "RecStr: " << exp.toString() << endl;	worldModel->parseChangePlayerType(exp);}bool BasicAgent::sigAlrmHandler(){	return synchronize();}bool BasicAgent::sigIntHandler(){	LOG << "Interrupt Handler." << endl;	cout << "Interrupt Handler." << endl;	return false;}bool BasicAgent::sigIOHandler(){	bool iReceivedSomething = false;	string message;	while (connection->receive(message) == 1)	{		iReceivedSomething = true;		curReceiveMS = worldModel->getTimer().now();		unsigned i = 0;		SExpression exp(message, i);//		assert(i + 1 == message.length());		string header = ((SExpAtomic *)exp[0])->asString();		if (header == "sense_body")			senseBody(exp);		else if (header == "see")			see(exp);		else if (header == "hear")			hear(exp);		else if (header == "fullstate")			fullState(exp);		else if (header == "server_param")			serverParam(exp);		else if (header == "player_param")			playerParam(exp);		else if (header == "player_type")			playerType(exp);