public bool isStopped; //It is true if the walk is stopped
//Default constructor
public RunningZMP()
{
this.commandCreator = CommandCreater.getUniqueInstance();
this.worldModel = WorldModel.getUniqueInstance();
this.planedCoM = new CoM[2000];
this.init();
}
// \define Initial the agent functionalities -------------------- MessageParser not implemented ...
static bool init()
{
logMessage = new StreamWriter("message.txt");
//logMessage.Close();
// Initialize the agent's connection
Console.WriteLine("'" + teamName + "' connecting to " + hostName + ":" + port + "...");
serverCommunicationManager = ServerCommunicationManager.getUniqueInstance();
if (!serverCommunicationManager.connect(hostName, port))
{
return(false);
}
Console.WriteLine("Done.\n");
// Initialize the command's creator
commandCreater = CommandCreater.getUniqueInstance();
// Initialize the world model
worldModel = WorldModel.getUniqueInstance();
GameConfiguration.getUniqueInstance().init();
sendMessage(GameConfiguration.getRSGPath());
worldModel.setSelfNumber(unum);
worldModel.setTeamName(teamName);
// Receive the first messages from the simulator and extract the the primary information
// to update the world model
string strMessage = "";
string firstChar = strMessage;
strMessage = readMessage();
MessageParser parser = new MessageParser();
parser.parseMessage(strMessage);
//GameConfiguration.getUniqueInstance().init();
// Send the first messages to the simulator to spawn the agent in simulator
commandCreater.init(unum, teamName);
sendMessage(commandCreater.getPreparedCommand());
commandCreater.reset();
strMessage = firstChar;
strMessage = readMessage();
parser.parseMessage(strMessage);
commandCreater.beam(-8, 0, 0);
sendMessage(commandCreater.getPreparedCommand());
return(true);
}
public GameConfiguration()
{
worldModel = WorldModel.getUniqueInstance();
rsgPath = "(scene rsg/agent/nao/nao.rsg)";
}
//Default constructor
public MessageParser()
{
this.worldModel = WorldModel.getUniqueInstance();
}
//Default constructor
public CommandCreater()
{
this.commandString = "";
this.command = "";
this.worldModel = WorldModel.getUniqueInstance();
}