Tools/Process.cpp

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/**
* @file Process.cpp
*
* Implementation of class Process.
*/

#define USE_GETMESSAGEIDNAME
#include "Tools/Process.h"
#include "Tools/Debugging/Debugging.h"

GT_GLOBAL unsigned long* processFrameNumberPtr;

Process::Process(MessageQueue& debugIn, MessageQueue& debugOut) 
: debugIn(debugIn), debugOut(debugOut)
, maxRunTime(0), minRunTime(0xffffffff), averageRunTime(0), frameCounter(0)
{
  // cannot initialize debugIn/debugOut here, because they have not yet been constructed
  // But there addresses can already be stored
  // Note: this initialization is only temporary
  initDebugging(&debugOut.out, &debugKeyTable, &debugRequestTable);
  initStreamHandler( &streamHandler);
  initDebugDataTable( &debugDataTable);
#ifdef NEWDEBUGGING
  initDrawingManager(&drawingManager);
#endif
  setRobotConfiguration(&robotConfiguration);
  setPlayer(&player);

  // read the player.cfg and robot.cfg
  player.load();
  getRobotConfiguration().load();

  initialized = false;
  frameNumber = 0;
  processFrameNumberPtr = & frameNumber;
}

int Process::processMain()
{
  unsigned long time = SystemCall::getCurrentSystemTime();
  if(!initialized)
  {
    // Now we can be in a different thread, so repeat initialization
    initDebugging(&debugOut.out, &debugKeyTable, &debugRequestTable);
    initStreamHandler(&streamHandler);
    initDebugDataTable( &debugDataTable);
#ifdef NEWDEBUGGING
    initDrawingManager(&drawingManager);
#endif
    processFrameNumberPtr = & frameNumber;

    setRobotConfiguration(&robotConfiguration);
    setPlayer(&player);

    debugIn.setPlayerForNewMessages(getPlayer()); // This is not needed except in the Win32 version of OVirtualRobotComm

    init();
    initialized = true;
  }
  // team color can change, so set it always
  debugOut.setPlayerForNewMessages(getPlayer());
  
#ifndef NDEBUG
  debugIn.handleAllMessages(*this);
  debugIn.clear();
  debugKeyTable.activate();
#endif

int toReturn = this->main();

#ifndef NDEBUG
  if(this->debugRequestTable.poll) 
  {
    if(this->debugRequestTable.pollCounter++ > 10)
    {
      this->debugRequestTable.poll = false;
      OUTPUT(idDebugResponse, text, "pollingFinished");
    }
  }
#endif
  DEBUG_RESPONSE("automated requests:ModuleSolutionTable", 
    int numOfModules = 0;
    for(int moduleIndex = 0; moduleIndex < SolutionRequest::numOfModules; moduleIndex++)
      if(moduleHandler.pGetModuleSelector((SolutionRequest::ModuleID)moduleIndex) != 0)
        ++numOfModules;
    getDebugOut().bin << numOfModules;
  for(int moduleIndex = 0; moduleIndex < SolutionRequest::numOfModules; moduleIndex++)
  {
    if(moduleHandler.pGetModuleSelector((SolutionRequest::ModuleID)moduleIndex) != 0)
    {
      getDebugOut().bin << SolutionRequest::getModuleName((SolutionRequest::ModuleID)moduleIndex);
      getDebugOut().bin << SolutionRequest::getNumOfSolutions((SolutionRequest::ModuleID)moduleIndex);
      for(int solutionIndex = 0;  solutionIndex < SolutionRequest::getNumOfSolutions((SolutionRequest::ModuleID)moduleIndex); solutionIndex++)
      {
        getDebugOut().bin << SolutionRequest::getModuleSolutionName((SolutionRequest::ModuleID)moduleIndex, (SolutionRequest::ModuleSolutionID)solutionIndex);
      }
      getDebugOut().bin << SolutionRequest::getModuleSolutionName((SolutionRequest::ModuleID)moduleIndex, SolutionRequest::getDefaultSolution((SolutionRequest::ModuleID)moduleIndex));
      getDebugOut().bin << SolutionRequest::getModuleSolutionName((SolutionRequest::ModuleID)moduleIndex, moduleHandler.getSelectedSolution((SolutionRequest::ModuleID)moduleIndex));
      getDebugOut().bin << SolutionRequest::getModuleCategoryName((SolutionRequest::ModuleID)moduleIndex);
    }
  }
  getDebugOut().finishMessage(idModuleSolutionTable);
  );

  time = SystemCall::getTimeSince(time);
  if (time > maxRunTime)
  {
    maxRunTime = time;
  }
  if (time < minRunTime)
  {
    minRunTime = time;
  }
  averageRunTime = averageRunTime*frameCounter + time;
  frameCounter++;
  averageRunTime /= frameCounter;
  return toReturn;
}

bool Process::handleMessage(InMessage& message)
{
  switch (message.getMessageID())
  {
  case idDebugKeyTable:
    message.bin >> debugKeyTable; 
    return true;
  case idDebugRequest:
    {
      DebugRequest debugRequest;
      message.bin >> debugRequest;
      debugRequestTable.addRequest(debugRequest);
      return true;
    }
  case idSolutionRequest: 
    {
      SolutionRequest request;
      message.bin >> request;
      moduleHandler.selectSolutions(request);
    }
    return true;
  default:
    if (moduleHandler.handleMessage(message))
    {
//      OUTPUT(idText,text,"Process::handleDebugMessage : Handled "<< getMessageIDName(message.getMessageID()));
      return true;
    }
    else
    {
      OUTPUT(idText,text,"Process::handleDebugMessage : Unhandled debug message ("<< getMessageIDName(message.getMessageID()) << ")");
      return false;
    }
  }
}

unsigned long Process::getFrameNumber()
{
  return *processFrameNumberPtr;
}

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