Modules/BehaviorControl/CommonXabsl2Symbols/PassSymbols.cpp

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/** 
* @file PassSymbols.cpp
*
* Implementation of class PassSymbols.
*
* @author Marc Dassler
*/

#include "PassSymbols.h"
#include "Representations/WLan/BehaviorTeamMessage.h"

PassSymbols::PassSymbols(const BehaviorControlInterfaces& interfaces)
: BehaviorControlInterfaces(interfaces)
{
}


void PassSymbols::registerSymbols(Xabsl2Engine& engine)
{
  // "pass.found"
  engine.registerBooleanInputSymbol("pass.found",this,
    (bool (Xabsl2FunctionProvider::*)())&PassSymbols::getPassExists);
  // "pass.quality"
  engine.registerDecimalInputSymbol("pass.quality",this,
    (double (Xabsl2FunctionProvider::*)())&PassSymbols::getPassQuality);
  // "pass.distance"
  engine.registerDecimalInputSymbol("pass.distance",this,
    (double (Xabsl2FunctionProvider::*)())&PassSymbols::getPassDistance);

  engine.registerDecimalInputSymbol("pass.angle-to-sender",this,
    (double (Xabsl2FunctionProvider::*)())&PassSymbols::getAngleToPassSender);
  engine.registerDecimalInputSymbol("pass.angle-to-receiver",this,
    (double (Xabsl2FunctionProvider::*)())&PassSymbols::getAngleToPassReceiver);
  engine.registerDecimalInputSymbol("pass.player-number-of-pass-receiver",this,
    (double (Xabsl2FunctionProvider::*)())&PassSymbols::getPlayerNumberOfReceiver);

}

void PassSymbols::update()
{
}

// receiving pass

double PassSymbols::getAngleToPassSender()
{
  Player::playerNumber senderNumber = Player::undefinedPlayerNumber;
  for (int i=0;i<teamMessageCollection.numberOfTeamMessages;i++)
  {
    if (teamMessageCollection[i].behaviorTeamMessage.message 
      == BehaviorTeamMessage::preparingAPass)
    {
      senderNumber = teamMessageCollection[i].playerNumberOfSender;
      preparingAPassMessagePlayerNumber = senderNumber;
      preparingAPassMessageTimeStamp = SystemCall::getCurrentSystemTime();
      break;
    }
  }
  // caching for network failures
  if (senderNumber == Player::undefinedPlayerNumber
    && (SystemCall::getCurrentSystemTime() - preparingAPassMessageTimeStamp < 2000))
    senderNumber = preparingAPassMessagePlayerNumber;

  if (senderNumber != Player::undefinedPlayerNumber)
  {
    PlayerPose senderPose;
    if (playerPoseCollection.getOwnPlayerPoseByPlayerNumber(senderNumber,senderPose))
    {
      // returns relative angle to sender
      return toDegrees (Geometry::angleTo(robotPose.getPose(),senderPose.getPose().translation));
    }
    else
    {
      // fallback: turn towards the ball
      Vector2<double> pos = ballModel.getKnownPosition(2000);
      return toDegrees (Geometry::angleTo(robotPose.getPose(),pos));
    }
   }
  return 0.0;
}

// sending pass
bool PassSymbols::getPassExists()
{
  return (passCorridorCollection.bestPassCorridorIndex != -1);
}

double PassSymbols::getPassQuality()
{
  return passCorridorCollection.getBestPassCorridorQuality();
}

double PassSymbols::getPassDistance()
{
  if (passCorridorCollection.bestPassCorridorIndex != -1)
  {
    return passCorridorCollection.bestPassCorridor->distance;
  }
  return 0.0;
}
double PassSymbols::getPlayerNumberOfReceiver()
{
  /*
  Player player;
  player.setPlayerNumber(passCorridorCollection.bestPassCorridor->playerNumber);
  player.getPlayerNumberName
  */
  if (passCorridorCollection.bestPassCorridorIndex != -1)
    return (double)(passCorridorCollection.bestPassCorridor->playerNumber);
  else
    return (double) -1;
}
double PassSymbols::getAngleToPassReceiver()
{
  
  if (passCorridorCollection.bestPassCorridorIndex != -1)
  {
    int i = passCorridorCollection.bestPassCorridor->playerPoseIndex;
    PlayerPose receiverPose = playerPoseCollection.getOwnPlayerPose(i);
    return toDegrees (Geometry::angleTo(robotPose.getPose(),receiverPose.getPose().translation));
  }
  else 
    return 0.0;
}

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