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161 | /*
* File: XABSLBehaviorControl.h
* Author: thomas
*
* Created on 9. Januar 2009, 21:31
*/
#ifndef _XABSLBehaviorControl_H
#define _XABSLBehaviorControl_H
#include <ModuleFramework/Module.h>
#include <ModuleFramework/ModuleManager.h>
// engine
#include <XabslEngine/XabslEngine.h>
#include <XabslEngine/XabslTools.h>
#include "Tools/Xabsl/XabslFileInputSource.h"
#include "Tools/Debug/DebugRequest.h"
#include <DebugCommunication/DebugCommandManager.h>
/*
#include "Representations/Modeling/BodyState.h"
#include "Representations/Infrastructure/CameraSettings.h"
#include "PlatformInterface/Platform.h"
*/
#include "Representations/Modeling/BehaviorStateComplete.h"
#include "Representations/Modeling/BehaviorStateSparse.h"
// symbols
#include "Symbols/BallSymbols.h"
#include "Symbols/GameSymbols.h"
#include "Symbols/MotionSymbols.h"
#include "Symbols/TeamSymbols.h"
#include "Symbols/SensorSymbols.h"
#include "Symbols/MathSymbols.h"
#include "Symbols/LedSymbols.h"
#include "Symbols/SelflocSymbols.h"
#include "Symbols/OdometrySymbols.h"
#include "Symbols/FieldSymbols.h"
#include "Symbols/StrategySymbols.h"
#include "Symbols/SoundSymbols.h"
#include "Symbols/PathSymbols.h"
#include "Symbols/RemoteSymbols.h"
// ErrorHandler
class MyErrorHandler : public xabsl::ErrorHandler
{
public:
MyErrorHandler(std::ostream& out);<--- Class 'MyErrorHandler' has a constructor with 1 argument that is not explicit. [+]Class 'MyErrorHandler' has a constructor with 1 argument that is not explicit. Such constructors should in general be explicit for type safety reasons. Using the explicit keyword in the constructor means some mistakes when using the class can be avoided.
void printError(const char* txt);
void printMessage(const char* txt);
virtual ~MyErrorHandler();
private:
std::ostream& out;
};
//////////////////// BEGIN MODULE INTERFACE DECLARATION ////////////////////
BEGIN_DECLARE_MODULE(XABSLBehaviorControl)
REQUIRE(FrameInfo)
REQUIRE(SelfLocGoalModel)
REQUIRE(BallModel)
REQUIRE(PlayerInfo)
REQUIRE(MotionStatus)
REQUIRE(FieldInfo)
REQUIRE(RobotPose)
REQUIRE(CompassDirection)
REQUIRE(MotionRequest)
PROVIDE(BehaviorStateSparse)
PROVIDE(BehaviorStateComplete)
PROVIDE(DebugRequest)
PROVIDE(DebugDrawings)
PROVIDE(StopwatchManager)
PROVIDE(DebugCommandManager)
END_DECLARE_MODULE(XABSLBehaviorControl)
//////////////////// END MODULE INTERFACE DECLARATION //////////////////////
class XABSLBehaviorControl :
private XABSLBehaviorControlBase,
private ModuleManager,
public DebugCommandExecutor
{
public:
XABSLBehaviorControl();
virtual ~XABSLBehaviorControl();
virtual void execute();
void loadBehaviorFromFile(std::string file, std::string agent);
virtual void executeDebugCommand(
const std::string& command,
const std::map<std::string,std::string>& arguments,
std::ostream &outstream);
private:
/** Register all needed symbols */
void registerXABSLSymbols();
/** update symbols */
void updateXABSLSymbols();
/** udpate output symbols */
void updateOutputSymbols();
/** some debug drawings */
void draw();
xabsl::Engine* theEngine;
MyErrorHandler theErrorHandler;
std::stringstream error_stream;
// TODO: remove this member
std::string agentName;
/** time passed into the xabsl engine */
unsigned int xabslTime;
// needed for serialization
std::vector<double> inputDecimalBuffer;
std::vector<bool> inputBooleanBuffer;
std::vector<int> inputEnumBuffer;
std::vector<double> outputDecimalBuffer;
std::vector<bool> outputBooleanBuffer;
std::vector<int> outputEnumBuffer;
void fillActiveOptionsSparse(naothmessages::BehaviorStateSparse &status);
void fillActionSparse(const xabsl::Action* source, naothmessages::XABSLActionSparse* dest);
void fillRegisteredBehavior(naothmessages::BehaviorStateComplete &status);
void fillRegisteredSymbolsSparse(naothmessages::BehaviorStateSparse &status);
void fillRegisteredSymbolsSparserer(naothmessages::BehaviorStateSparse &status);
//symbols
ModuleCreator<BallSymbols>* theBallSymbols;
ModuleCreator<GameSymbols>* theGameSymbols;
ModuleCreator<MotionSymbols>* theMotionSymbols;
ModuleCreator<TeamSymbols>* theTeamSymbols;
ModuleCreator<SensorSymbols>* theSensorSymbols;
ModuleCreator<MathSymbols>* theMathSymbols;
ModuleCreator<LedSymbols>* theLedSymbols;
ModuleCreator<SelflocSymbols>* theSelflocSymbols;
ModuleCreator<OdometrySymbols>* theOdometrySymbols;
ModuleCreator<FieldSymbols>* theFieldSymbols;
ModuleCreator<StrategySymbols>* theStrategySymbols;
ModuleCreator<SoundSymbols>* theSoundSymbols;
ModuleCreator<PathSymbols>* thePathSymbols;
ModuleCreator<RemoteSymbols>* theRemoteSymbols;
};
#endif /* _XABSLBehaviorControl_H */
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