Modules/BehaviorControl/GT2005BehaviorControl/GT2005Symbols/GT2005StrategySymbols.h

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/** 
* @file GT2005StrategySymbols.h
*
* Declaration of class GT2005StrategySymbols.
*
* @author Martin Lötzsch
*/

#ifndef __GT2005StrategySymbols_h_
#define __GT2005StrategySymbols_h_

#include "../../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
#include "Tools/Streams/InStreams.h"
#include "Tools/Streams/OutStreams.h"

/**
* The Xabsl2 symbols that are defined in "strategy-symbols.xml"
*
* @author Martin Lötzsch
*/ 
class GT2005StrategySymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
  /*
  * Constructor.
  * @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005StrategySymbols(BehaviorControlInterfaces& interfaces);
  
  enum BehaviorTimeState
  {
    dontSave,
    saveTime,
    resetTime
  };
    
  BehaviorTimeState behaviorTimeCarryBallState;
  BehaviorTimeState behaviorTimeKickState;

  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);
  
  /** updates the symbols */
  void update();

  /** current estimated time to reach the ball */
  double estimatedTimeToReachBall;

  /** computes the estimated time to reach the ball */
  void estimateTimeToReachBall();

  /** current role */
  BehaviorTeamMessage::DynamicRole role;

  /** computes the current role */
  void computeRole();

  //!@name Input symbols
  //!@{
  /* 
  * A function for the symbol "robot-number". 
  * Returns the robots back number as read from player.cfg 
  */
  double getRobotNumber() { return (double)(getPlayer().getPlayerNumber() + 1); };

  /*!< calculates the value for the input function get-angle-to-teammate with parameter index */
  double getAngleToTeammate();  
  /*!< the Parameter "robot-pose.get-angle-to-teammate.index" for the decimal input function "robot-pose.get-angle-to-teammate" */
  double angleToTeammateIndex; 

  /*!< calculates the value for the input function get-time-since-last-carry-ball */
  double getTimeSinceLastCarryBall(); 

  /*!< calculates the value for the input function get-time-since-kick */
  double getTimeSinceLastKick(); 

  /** A function for the symbol "another-player-is-in-ready-state". */
  bool getAnotherPlayerIsInReadyState();

  /** A function for the symbol "another-player-is-in-initial-state". */
  bool getAnotherPlayerIsInInitialState();

  /** A function for the symbol "another-teammate-is-performing-a-kick" */
  bool getAnotherTeammateIsPerformingAKick();

  /** A function for the symbol "another-teammate-is-performing-a-pass" */
  bool getAnotherTeammateIsPerformingAPass();

  /** A function for the symbol "the-striker-is-playing-near-the-opponent-goal" */
  bool getTheStrikerIsPlayingNearTheOpponentGoal();

  /** A function for the symbol "the-striker-is-not-playing-near-the-opponent-goal" */
  bool getTheStrikerIsNotPlayingNearTheOpponentGoal();

  /** A function for the symbol "the-striker-is-playing-near-the-own-goal" */
  bool getTheStrikerIsPlayingNearTheOwnGoal();

  /** A function for the symbol "the-striker-is-not-playing-near-the-own-goal" */
  bool getTheStrikerIsNotPlayingNearTheOwnGoal();

  /** A function for the symbol "goalie-max-position-speed" */
  double getGoalieMaxPositionSpeed(); 

  /** A function for the symbol "search-ball.x" */
  double getSearchBallX();

  /** Whether the ball is handled at the moment */
  bool ballIsHandledAtTheMoment;

  /** Whether the robot is running to the interception point with the ball */
  bool goingToInterceptionPoint;
  
  /** Represents the time since last successfully ball carrying */
  unsigned long timeSinceLastCarryBall;

  /** Represents the time since last successfull kick */
  unsigned long timeSinceLastKick;
  
  //!@}

  /** Output-Symbols for Profiler */
  enum { doProfiling, dontDoProfiling} doProfile;
  enum { writeProfiles, writeCompleteProfiles, dontWriteProfiles} writeProfile;

private:
   bool timeSinceLastCarryBallSaved;
   bool timeSinceLastKickSaved;

   BehaviorTeamMessage::DynamicRole roleLastFrame;
   unsigned long timeStampSinceRoleChange;
};


#endif // __GT2005StrategySymbols_h_

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