LocalRobot::LocalRobot()
: RobotConsole(theDebugReceiver, theDebugSender),
theDebugReceiver(this, "Receiver.MessageQueue.O"),
theDebugSender(this, "Sender.MessageQueue.S"),
image(false),
nextImageTimeStamp(0),
imageLastTimeStampSent(0),
jointLastTimeStampSent(0),
updatedSignal(1),
puppet(0)
{
mode = ((ConsoleRoboCupCtrl*)RoboCupCtrl::controller)->getMode();
addViews();
if(mode == SystemCall::logfileReplay)
{
logFile = ((ConsoleRoboCupCtrl*)RoboCupCtrl::controller)->getLogFile();
logPlayer.open(logFile.c_str());
logPlayer.handleAllMessages(annotationInfos['c']);
logPlayer.play();
puppet = (SimRobotCore2::Body*)RoboCupCtrl::application->resolveObject("RoboCup.puppets." + robotName, SimRobotCore2::body);
if(puppet)
simulatedRobot.init(puppet);
}
else if(mode == SystemCall::simulatedRobot)
{
SimRobotCore2::Body* robot = (SimRobotCore2::Body*)RoboCupCtrl::application->resolveObject(RoboCupCtrl::getRobotFullName(), SimRobotCore2::body);
ASSERT(robot);
simulatedRobot.init(robot);
ctrl->gameController.registerSimulatedRobot(robotName.mid(5).toInt() - 1, simulatedRobot);
}
}
LocalRobot::LocalRobot()
: RobotConsole(theDebugReceiver,theDebugSender),
theDebugReceiver(this,"Receiver.MessageQueue.O",false),
theDebugSender(this,"Sender.MessageQueue.S",false),
imageTimeStamp(0),
imageLastTimeStampSent(0)
{
mode = ConsoleRoboCupCtrl::getMode();
addViews();
if(mode == SystemCall::logfileReplay)
{
logFile = ConsoleRoboCupCtrl::getLogFile();
logPlayer.open(logFile.c_str());
logPlayer.play();
}
else if(mode == SystemCall::simulatedRobot)
{
oracle.init();
}
}