bool
SoccerBase::GetGameControlServer(const Leaf& base,
boost::shared_ptr<GameControlServer> & game_control_server)
{
static boost::shared_ptr<GameControlServer> gameControlServer;
if (gameControlServer.get() == 0)
{
gameControlServer = shared_dynamic_cast<GameControlServer>
(base.GetCore()->Get("/sys/server/gamecontrol"));
if (gameControlServer.get() == 0)
{
base.GetLog()->Error()
<< "Error: (SoccerBase: " << base.GetName()
<< " found no GameControlServer\n";
return false;
}
}
game_control_server = gameControlServer;
return true;
}
bool
SoccerBase::GetSceneServer(const Leaf& base,
boost::shared_ptr<SceneServer>& scene_server)
{
scene_server = shared_static_cast<SceneServer>
(base.GetCore()->Get("/sys/server/scene"));
if (scene_server.get() == 0)
{
base.GetLog()->Error()
<< "Error: (SoccerBase: " << base.GetName()
<< ") scene server not found.\n";
return false;
}
return true;
}
bool
SoccerBase::GetGameState(const Leaf& base,
boost::shared_ptr<GameStateAspect>& game_state)
{
game_state = shared_dynamic_cast<GameStateAspect>
(base.GetCore()->Get("/sys/server/gamecontrol/GameStateAspect"));
if (game_state.get() == 0)
{
base.GetLog()->Error()
<< "Error: (SoccerBase: " << base.GetName()
<< ") found no GameStateAspect\n";
return false;
}
return true;
}
bool
SoccerBase::GetSoccerRuleAspect(const Leaf& base,
boost::shared_ptr<SoccerRuleAspect> & soccer_rule_aspect)
{
soccer_rule_aspect = shared_dynamic_cast<SoccerRuleAspect>
(base.GetCore()->Get("/sys/server/gamecontrol/SoccerRuleAspect"));
if (soccer_rule_aspect.get() == 0)
{
base.GetLog()->Error()
<< "Error: (SoccerBase: " << base.GetName()
<< " found no SoccerRuleAspect\n";
return false;
}
return true;
}
bool
SoccerBase::GetBallBody(const Leaf& base, boost::shared_ptr<RigidBody>& body)
{
static boost::shared_ptr<Scene> scene;
static boost::shared_ptr<RigidBody> bodyRef;
if (scene.get() == 0)
{
if (! GetActiveScene(base,scene))
{
base.GetLog()->Error()
<< "(SoccerBase) ERROR: " << base.GetName()
<< ", could not get active scene.\n";
return false;
}
}
if (bodyRef.get() == 0)
{
bodyRef = shared_dynamic_cast<RigidBody>
(base.GetCore()->Get(scene->GetFullPath() + "Ball/physics"));
if (bodyRef.get() == 0)
{
base.GetLog()->Error()
<< "(SoccerBase) ERROR: " << base.GetName()
<< ", found no ball body node\n";
return false;
}
}
body = bodyRef;
return true;
}
bool
SoccerBase::GetBall(const Leaf& base, boost::shared_ptr<Ball>& ball)
{
static boost::shared_ptr<Scene> scene;
static boost::shared_ptr<Ball> ballRef;
if (scene.get() == 0)
{
if (! GetActiveScene(base,scene))
{
base.GetLog()->Error()
<< "(SoccerBase) ERROR: " << base.GetName()
<< ", could not get active scene.\n";
return false;
}
}
if (ballRef.get() == 0)
{
ballRef = shared_dynamic_cast<Ball>
(base.GetCore()->Get(scene->GetFullPath() + "Ball"));
if (ballRef.get() == 0)
{
base.GetLog()->Error()
<< "(SoccerBase) ERROR: " << base.GetName()
<< ", found no ball node\n";
return false;
}
}
ball = ballRef;
return true;
}