Representations/WLan/TeamMessage.h

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/**
 * @file Representations/WLan/TeamMessage.h
 *
 * Declaration of class TeamMessage
 *
 * @author <A href=mailto:roefer@tzi.de>Thomas Röfer</A>
 * @author <A href=mailto:sebastian.schmidt@udo.edu>Sebastian Schmidt</A>
 * @author <A href=mailto:m_wachter@gmx.de>Michael Wachter</A>
 */ 

#ifndef __TeamMessage_h_
#define __TeamMessage_h_

#include "Tools/Streams/InOut.h"
#include "Tools/Player.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Cognition/BallModel.h"
#include "Representations/Cognition/ObstaclesModel.h"
#include "Representations/Perception/PlayersPercept.h"
#include "Representations/WLan/BehaviorTeamMessage.h"
#include "Modules/SensorBehaviorControl/SensorBehaviorTeamMessage.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Perception/MultipleBallPerceptList.h"
#include "Representations/Cognition/RobotPoseCollection.h"
#include "Representations/Perception/MultipleBallPerceptList.h"
#include "Modules/TeamBallLocator/GT2005Particles/GT2005ParticleContainerSend.h"

class TeamMessage;
class TeamMessageMessageCollection;
/**
 * Streaming operator that reads a team message from a stream.
 * @param stream The stream from which is read.
 * @param teamMessage The object to be read.
 * @return The stream.
 */ 
In& operator>>(In& stream,TeamMessage& teamMessage);

/**
 * Streaming operator that writes a team message to a stream.
 * @param stream The stream to write on.
 * @param teamMessage The object to be written.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const TeamMessage& teamMessage);


/** 
 * @class TeamMessage
 *
 * Represents a collection of all data that is exchanged between the different robots.
 */
class TeamMessage
{
  public:
    
    unsigned int timeStamp; /**< The time stamp of the sending robot. */
    unsigned int lastReceivedTimeStamp[4]; /**< The timeStamp of the last package received from the receiving robot. */
    unsigned int incomingTimeStamp[4]; /**< The local receiving time of the last package received from the receiving robot. */

    RobotPose robotPose; /**< The robot pose of the robot. */
    bool sendRobotPose; /**< Send robotPose if true. */
    
    SeenBallState seenBallState; /**< The ball seen by the robot. */
    bool sendSeenBallState; /**< Send seenBallState if true. */
    
    BehaviorTeamMessage behaviorTeamMessage; /**< Messages by the behavior */
    bool sendBehaviorTeamMessage; /**< Send behaviorTeamMessage if true */
    
    PlayersPercept playersPercept; /**< */
    bool sendPlayersPercept; /**> Send playersPercept if true */

    SensorBehaviorTeamMessage sensorBehaviorTeamMessage; /**> */
    bool sendSensorBehaviorTeamMessage; /**> Send sensorBehaviorTeamMessage if true */

    OdometryData odometryData; /**> The odometry data of the robot */
    bool sendOdometryData; /**> Send odometryData if true */

    MultipleBallPerceptList multipleBallPerceptList; /**> The list of ball percepts of the robot*/
    bool sendMultipleBallPerceptList; /**> Send multipleBallPerceptList if true */

    GT2005ParticleContainerSend gt2005ParticleContainerSend; /**> The representative ball particles of the robot */
    bool sendGT2005ParticleContainerSend; /**> Send gt2005ParticleContainerSend if true */

    RobotPoseCollection robotPoseCollection; /**> The possible and most reliable robot poses */
    bool sendRobotPoseCollection; /**> Send robotPoseCollection if true */

    ObstaclesModel obstaclesModel; /**> The obstacles models of the robot */
    bool sendObstaclesModel; /**> Send obstaclesModel if true */

    signed long timeOffset; /**< timeOffset  Remote time - local time */
    Player::playerNumber playerNumberOfSender; /**< The player number of the Sender */
       
    /**
     * Constructor.
     */
    TeamMessage();

    virtual ~TeamMessage();

    /**
     * The function determines, whether the team message is actual.
     * @return Did the communication take less than 1 seconds?
     */
    bool isActual() const;
    bool isActual(int i) const;

    /**
     * This function returns the time of the remote player in the time 
     * system of the local player
     */
    long getTimeStampInOwnTime() const ;

    /**
     * This function converts a remote timeStamp to the local time system
     * @param time the timeStamp to be converted
     */
    long getTimeInOwnTime(long time) const;

    /**
     * This function converts a local timeStamp to the remote time system
     * @param time the timeStamp to be converted
     */
    long getTimeInRemoteTime(long time) const;

    /**
     * This function sets all send-markers to false. Its called by the TeamMessageCollection
     */

    void resetSendMarkers();
    
  private:
    // used to crypt the robotpose
    // this is only to stop non-GT Teams, which use our code, to retrieve the robot
    // position.
    // Darmstadt ? Crypto disabled because we have a better solution  ;) 
    // static int cryptWord;
    static void read(In& stream,Vector2<double>& v);
    static void read(In& stream,Pose2D& p);
    static void write(Out& stream,const Vector2<double>& v);
    static void write(Out& stream,const Pose2D& p);
    friend In& operator>>(In& stream,TeamMessage& teamMessage);
    friend Out& operator<<(Out& stream, const TeamMessage& teamMessage);
};

/** A TeamMessage from team mate 1 */
class TeamMessage1 : public TeamMessage {};

/** A TeamMessage from team mate 2 */
class TeamMessage2 : public TeamMessage {};

/** A TeamMessage from team mate 3 */
class TeamMessage3 : public TeamMessage {};

class TeamMessage4 : public TeamMessage {};

#endif //__TeamMessage_h_

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