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标题: 帮我看看这断代码是干什么的 [打印本页]
作者: 何静敏    时间: 2004-6-23 20:31     标题: 帮我看看这断代码是干什么的

*/ 00047 #include "ActHandler.h" 00048 00049 #include // poll 00050 #include // poll 00051 #include // SIGALARM 00052 00053 ActHandler* ACT; 00061 extern void sigalarmHandler( int i ) 00062 { 00063 ACT->sendCommands( ); 00064 } 00065 00071 ActHandler::ActHandler( Connection *c, WorldModel *wm, ServerSettings *ss ) 00072 { 00073 connection = c; 00074 SS = ss; 00075 WM = wm; 00076 00077 m_iMultipleCommands = 0; 00078 ACT = this; // needed to let signal call method from class 00079 } 00080 00082 void ActHandler::emptyQueue( ) 00083 { 00084 m_queueOneCycleCommand.commandType = CMD_ILLEGAL; 00085 for( int i = 0; i < MAX_COMMANDS - 1 ; i ++ ) 00086 m_queueMultipleCommands.commandType = CMD_ILLEGAL; 00087 m_iMultipleCommands=0; 00088 } 00089 00092 bool ActHandler::isQueueEmpty() 00093 { 00094 return m_queueOneCycleCommand.commandType == CMD_ILLEGAL && 00095 m_iMultipleCommands == 0; 00096 } 00097 00106 bool ActHandler::sendCommands( ) 00107 { 00108 static Time timeLastSent = -1; 00109 bool bNoOneCycle = false; 00110 char strCommand[MAX_MSG]; 00111 strCommand[0] = '\0'; 00112 00113 if( WM->getCurrentTime() == timeLastSent ) 00114 { 00115 Log.logWithTime( 2, " already sent message; don't send" ); 00116 return false; 00117 } 00118 00119 if( WM->isQueuedActionPerformed() == false && // don't send action when 00120 m_queueOneCycleCommand.commandType != CMD_CATCH) // previous one is not 00121 { // not processed yet 00122 Log.logWithTime( 2, " previous message not processed yet; don't send" ); 00123 return false; // except with catch since 00124 } // too important 00125 00126 // make string of primary action and put it in 'strCommand' variable 00127 m_queueOneCycleCommand.getCommandString( strCommand, SS ); 00128 00129 if( strCommand[0] == '\0' ) 00130 { 00131 bNoOneCycle = true; 00132 Log.logWithTime( 2, " no primary action in queue" ); 00133 } 00134 00135 // make string of all other commands and add them to the end of 'strCommand' 00136 for( int i = 0; i < m_iMultipleCommands ; i ++ ) 00137 { 00138 m_queueMultipleCommands.getCommandString( 00139 &strCommand[strlen(strCommand)], SS ); 00140 } 00141 00142 // send the string to the server (example string: '(dash 100)(turn_neck -19)') 00143 if( strCommand[0] != '\0' ) 00144 { 00145 timeLastSent = WM->getCurrentTime(); 00146 connection->sendMessage( strCommand ); 00147 Log.logWithTime( 2, " send queued action to server: %s", strCommand); 00148 } 00149 else 00150 { 00151 Log.logWithTime( 2, " no action in queue??" ); 00152 return false; 00153 } 00154 00155 if( ! bNoOneCycle ) // if primary action was send, place it at end of array 00156 m_queueMultipleCommands[m_iMultipleCommands++] = m_queueOneCycleCommand; 00157 00158 // let worldmodel know which commands were sent to the server 00159 WM->processQueuedCommands( m_queueMultipleCommands, m_iMultipleCommands ); 00160 m_iMultipleCommands = 0; 00161 00162 // decrease amount of times primary action still has to be sent, if 0 delete 00163 // it, furthermore set number of multiple commands to zero 00164 if( --m_queueOneCycleCommand.iTimes == 0 ) 00165 m_queueOneCycleCommand.commandType = CMD_ILLEGAL; 00166 00167 for( int i = 0; i < MAX_COMMANDS; i++ ) 00168 m_queueMultipleCommands.commandType = CMD_ILLEGAL; 00169 00170 return true; 00171 } 00172 00178 bool ActHandler::putCommandInQueue( SoccerCommand command ) 00179 { 00180 int i = 0; 00181 bool bOverwritten = false; 00182 00183 if( command.commandType == CMD_ILLEGAL ) 00184 return false; 00185 if( SoccerTypes::isPrimaryCommand( command.commandType ) ) 00186 m_queueOneCycleCommand = command; // overwrite primary command 00187 else // non-primary command 00188 { 00189 for( i = 0; i < m_iMultipleCommands ; i ++ ) 00190 if( m_queueMultipleCommands.commandType == command.commandType ) 00191 { 00192 m_queueMultipleCommands = command; // if command already in queue 00193 bOverwritten = true; // overwrite it 00194 } 00195 00196 // 1 less to save space for primary command 00197 if( bOverwritten == false && m_iMultipleCommands == MAX_COMMANDS-1 ) 00198 { 00199 cerr << "(ActHandler::putCommandInQueue) too many commands" << endl; 00200 return false; 00201 } 00202 if( bOverwritten == false ) // add it when command was not yet in queue 00203 m_queueMultipleCommands[m_iMultipleCommands++] = command; 00204 } 00205 00206 return true; 00207 } 00208 00214 bool ActHandler::sendCommand( SoccerCommand soc ) 00215 { 00216 char strCommand[MAX_MSG]; 00217 soc.getCommandString( strCommand, SS ); 00218 return sendMessage( strCommand ); 00219 } 00220 00226 bool ActHandler::sendMessage( char * str ) 00227 { 00228 emptyQueue( ); 00229 poll( 0, 0, SS->getSimulatorStep() ); 00230 00231 bool bReturn = connection->sendMessage( str ); 00232 Log.logWithTime( 2, " send message to server and wait: %s", str); 00233 00234 poll( 0, 0, SS->getSimulatorStep() ); 00235 return bReturn; 00236 } 00237 00243 bool ActHandler::sendCommandDirect( SoccerCommand soc ) 00244 { 00245 char strCommand[MAX_MSG]; 00246 if( soc.commandType == CMD_ILLEGAL ) 00247 return false; 00248 soc.getCommandString( strCommand, SS ); 00249 return sendMessageDirect( strCommand ); 00250 } 00251 00255 bool ActHandler::sendMessageDirect( char * str ) 00256 { 00257 bool bReturn = connection->sendMessage( str ); 00258 Log.logWithTime( 2, " send message to server directly: %s", str); 00259 return bReturn; 00260 } 00261



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