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168 | /*
* File: Simulator.h
* Author: thomas
*
* Created on 4. Dezember 2008, 16:51
*/
#ifndef _SIMULATOR_H
#define _SIMULATOR_H
#include <iostream>
#include <strstream>
#include <Representations/Infrastructure/FrameInfo.h>
#include <Representations/Infrastructure/JointData.h>
#include <Representations/Infrastructure/Image.h>
#include <Representations/Infrastructure/AccelerometerData.h>
#include <Representations/Infrastructure/GyrometerData.h>
#include <Representations/Infrastructure/InertialSensorData.h>
#include <Representations/Infrastructure/CameraSettings.h>
#include <Representations/Infrastructure/ButtonData.h>
#include <Representations/Infrastructure/FSRData.h>
#include <Representations/Infrastructure/BatteryData.h>
#include <Representations/Infrastructure/UltraSoundData.h>
#include <Representations/Infrastructure/LEDData.h>
#include <Representations/Infrastructure/SoundData.h>
#include <Representations/Infrastructure/GameData.h>
#include "DebugCommunication/DebugServer.h"
#include "PlatformInterface/PlatformInterface.h"
#include <Tools/Debug/DebugRequest.h>
#include <Tools/Logfile/LogFileScanner.h>
#include "LogProviderModule.h"
#include <google/protobuf/io/zero_copy_stream_impl.h>
class Simulator : public PlatformInterface
{
public:
Simulator(const std::string& filePath, bool backendMode, bool realTime, unsigned short port);
virtual ~Simulator(){}
virtual std::string getBodyID() const { return "naoth-logsimulator"; }
virtual std::string getBodyNickName() const {return "naoth"; }
virtual std::string getHeadNickName() const {return "naoth"; }
virtual std::string getRobotName() const { return "naoth-logsimulator"; }
virtual std::string getPlatformName() const { return "LogSimulator"; }
virtual unsigned int getBasicTimeStep() const { return 20; }
void main(bool start = false);<--- Function 'main' argument 1 names different: declaration 'start' definition 'autostart'.
void printRepresentations();
void printHelp();
void printCurrentLineInfo();
void stepForward();
void stepBack();
void jumpToBegin();
void jumpToEnd();
void jumpTo(unsigned int position);
void play(bool loop = false);
int getCurrentFrame() { return *currentFrame; }
int getMinFrame() { return *(logFileScanner.begin());}
int getMaxFrame() { return *(logFileScanner.last());}
/////////////////////// get ///////////////////////
template<class T> void generalGet(T& data, std::string name) const;
#define SIM_GET(rep) void get(rep& data) const {generalGet(data,#rep);}
// generic get
template<class T> void get(T& data) const { generalGet(data, typeid(T).name()); }
// do nothing
template<class T> void set(const T& /*data*/){}
//SIM_GET(FrameInfo);
void get(unsigned int& /*timestamp*/) const {}
SIM_GET(FrameInfo);
SIM_GET(SensorJointData);
SIM_GET(AccelerometerData);
SIM_GET(Image);
SIM_GET(ImageTop);
SIM_GET(GyrometerData);
SIM_GET(FSRData);
SIM_GET(InertialSensorData);
SIM_GET(CurrentCameraSettings);
SIM_GET(ButtonData);
SIM_GET(BatteryData);
SIM_GET(UltraSoundReceiveData);
/////////////////////// set ///////////////////////
//virtual void set(const MotorJointData& /*data*/){};
//virtual void set(const CameraSettingsRequest& /*data*/){};
//virtual void set(const LEDData& /*data*/){};
//virtual void set(const UltraSoundSendData& /*data*/){};
//virtual void set(const SoundData& /*data*/){};
/////////////////////// init ///////////////////////
void open(const std::string& filePath);
virtual void init();
const LogFileScanner::Frame& getRepresentations() {
return representations;
}
const std::set<std::string>& getIncludedRepresentations() {
return logFileScanner.getIncludedRepresentations();
}
protected:
virtual MessageQueue* createMessageQueue(const std::string& name);
public:
// the flag for backend mode, which is enables reading commands from stdin
bool backendMode;
// play the logfile according to the time of the frames
bool realTime;
LogFileScanner logFileScanner;
LogFileScanner::FrameIterator currentFrame;
LogFileScanner::Frame representations;
unsigned int lastFrameTime;
// the simulated time and the framenumber contineously increases even if the logfile is played backwards (!)
unsigned int simulatedTime;
unsigned int simulatedFrameNumber;
char getInput();
/**
* reads in the frame which begins at the current frame position and executes
* the "processes"
*/
void executeCurrentFrame();
/**
* if the frame info is not available: create new one
* the time grows monotonously
*/
void adjust_frame_time();
private:
DebugServer theDebugServer;
unsigned short debugPort;
public:
void get(DebugMessageInCognition& data) {
theDebugServer.getDebugMessageInCognition(data);
}
void get(DebugMessageInMotion& data) {
theDebugServer.getDebugMessageInMotion(data);
}
void set(const DebugMessageOut& data) {
if(data.answers.size() > 0) {
theDebugServer.setDebugMessageOut(data);
}
}
};
#endif /* _SIMULATOR_H */
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