GT2005: Modules/BehaviorControl/GT2005BehaviorControl/GT2005Symbols/TestSymbols.cpp Source File

00001 /** 
00002 * @file TestSymbols.cpp
00003 *
00004 * Implementation of class TestSymbols.
00005 *
00006 * @author Bastian Schmitz
00007 */
00008 
00009 #include "TestSymbols.h"
00010 #include "Tools/Math/Geometry.h"
00011 #include "Tools/FieldDimensions.h"
00012 
00013 TestSymbols::TestSymbols(const BehaviorControlInterfaces& interfaces)
00014 : BehaviorControlInterfaces(interfaces),
00015 disableCarryBall(false),
00016 disableKicking(false),
00017 useSlowCarryBall(false)
00018 {
00019 }
00020 
00021 
00022 void TestSymbols::registerSymbols(Xabsl2Engine& engine)
00023 {
00024   engine.registerBooleanInputSymbol("test.disable-carry-ball", &disableCarryBall);
00025   engine.registerBooleanInputSymbol("test.disable-kicking", &disableKicking);
00026   engine.registerBooleanInputSymbol("test.use-carry-ball-slow", &useSlowCarryBall);
00027 
00028   engine.registerDecimalInputFunction(
00029     "kst.sendRecord",this,
00030     (double (Xabsl2FunctionProvider::*)())&TestSymbols::sendKickRecord);
00031   engine.registerDecimalInputFunctionParameter(
00032     "kst.sendRecord",
00033     "kst.sendRecord.xr",
00034     kick.ballXR );
00035   engine.registerDecimalInputFunctionParameter(
00036     "kst.sendRecord",
00037     "kst.sendRecord.yr",
00038     kick.ballYR );
00039   //engine.registerDecimalInputFunctionParameter(
00040   //  "kst.sendRecord",
00041   //  "kst.sendRecord.tr",
00042   //  kick.ballTR );
00043   engine.registerDecimalInputFunctionParameter(
00044     "kst.sendRecord",
00045     "kst.sendRecord.xs",
00046     kick.ballXS );
00047   engine.registerDecimalInputFunctionParameter(
00048     "kst.sendRecord",
00049     "kst.sendRecord.ys",
00050     kick.ballYS );
00051   //engine.registerDecimalInputFunctionParameter(
00052   //  "kst.sendRecord",
00053   //  "kst.sendRecord.ts",
00054   //  kick.ballTS );
00055   engine.registerDecimalInputFunctionParameter(
00056     "kst.sendRecord",
00057     "kst.sendRecord.xa",
00058     kick.ballXA );
00059   engine.registerDecimalInputFunctionParameter(
00060     "kst.sendRecord",
00061     "kst.sendRecord.ya",
00062     kick.ballYA );
00063   //engine.registerDecimalInputFunctionParameter(
00064   //  "kst.sendRecord",
00065   //  "kst.sendRecord.ta",
00066   //  kick.tA );
00067   engine.registerDecimalInputFunctionParameter(
00068     "kst.sendRecord",
00069     "kst.sendRecord.id",
00070     kickID );
00071   kick.ballTR = SystemCall::getCurrentSystemTime();
00072   kick.ballTS = SystemCall::getCurrentSystemTime()+100;
00073   kick.tA = SystemCall::getCurrentSystemTime()+1000;
00074 }
00075 
00076 void TestSymbols::update()
00077 {
00078   disableCarryBall = false;
00079   disableKicking = false;
00080   useSlowCarryBall = false;
00081   DEBUG_RESPONSE("Behavior:handle-ball-test:disableCarryBall", disableCarryBall = true;);
00082   DEBUG_RESPONSE("Behavior:handle-ball-test:disableKicking", disableKicking = true;);
00083   DEBUG_RESPONSE("Behavior:handle-ball-test:useSlowCarryBall", useSlowCarryBall = true;);
00084 }
00085 
00086 double TestSymbols::sendKickRecord()
00087 {
00088   OUTPUT(idText,text," sendKickRecord ");
00089   OUTPUT(idKickRecord, bin, SpecialActionRequest::getSpecialActionIDName((SpecialActionRequest::SpecialActionID)(int)kickID) << kick);
00090 //  INFO(sendKickRecords, idKickRecord, bin, SpecialActionRequest::getSpecialActionIDName(kickID) << kick);  
00091   return 0;
00092 }