magma.tools.benchmark.model.proxy.BenchmarkAgentProxyServer.java Source code

Introduction

Here is the source code for magma.tools.benchmark.model.proxy.BenchmarkAgentProxyServer.java

Source

/* Copyright 2009 Hochschule Offenburg
 * Klaus Dorer, Mathias Ehret, Stefan Glaser, Thomas Huber,
 * Simon Raffeiner, Srinivasa Ragavan, Thomas Rinklin,
 * Joachim Schilling, Rajit Shahi
 *
 * This file is part of magmaOffenburg.
 *
 * magmaOffenburg is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * magmaOffenburg is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with magmaOffenburg. If not, see <http://www.gnu.org/licenses/>.
 */

package magma.tools.benchmark.model.proxy;

import java.net.Socket;

import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;

import magma.tools.SAProxy.impl.AgentProxy;
import magma.tools.SAProxy.impl.SimsparkAgentProxyServer;
import magma.tools.benchmark.model.bench.RunInformation;

/**
 * 
 * @author kdorer
 */
public class BenchmarkAgentProxyServer extends SimsparkAgentProxyServer {
    private final int allowedPlayers;

    private final boolean allowPlayerBeaming;

    private final boolean isGazebo;

    private RunInformation runInfo;

    public BenchmarkAgentProxyServer(SimsparkAgentProxyServerParameter parameterObject, int allowedPlayers,
            boolean allowPlayerBeaming, boolean isGazebo) {
        super(parameterObject);
        this.allowedPlayers = allowedPlayers;
        this.allowPlayerBeaming = allowPlayerBeaming;
        this.isGazebo = isGazebo;
        runInfo = new RunInformation();
    }

    @Override
    protected AgentProxy createAgentProxy(Socket clientSocket) {
        if (agentProxies.size() > allowedPlayers) {
            System.out.println("Already " + allowedPlayers + " agent(s) connected!");
            return null;
        }
        BenchmarkAgentProxy benchmarkAgentProxy = new BenchmarkAgentProxy(clientSocket, ssHost, ssPort,
                showMessages, allowPlayerBeaming, isGazebo);
        benchmarkAgentProxy.updateProxy(runInfo);
        return benchmarkAgentProxy;
    }

    public void updateProxy(RunInformation runInfo) {
        this.runInfo = runInfo;
        BenchmarkAgentProxy agentProxy = getAgentProxy();
        if (agentProxy != null) {
            agentProxy.updateProxy(runInfo);
        }
    }

    public int getBothLegsOffGround() {
        if (agentProxies.isEmpty()) {
            return 0;
        }
        return getAgentProxy().getBothLegsOffGround();
    }

    public int getOneLegOffGround() {
        if (agentProxies.isEmpty()) {
            return 0;
        }
        return getAgentProxy().getOneLegOffGround();
    }

    public int getNoLegOffGround() {
        if (agentProxies.isEmpty()) {
            return 0;
        }
        return getAgentProxy().getNoLegOffGround();
    }

    public int getLegOnGround() {
        if (agentProxies.isEmpty()) {
            return 0;
        }
        return getAgentProxy().getLegOnGround();
    }

    public Vector3D getGroundTruthPosition() {
        if (agentProxies.isEmpty()) {
            return Vector3D.ZERO;
        }
        return getAgentProxy().getGroundTruthPosition();
    }

    public float getTime() {
        if (agentProxies.isEmpty()) {
            return 0;
        }
        return getAgentProxy().getTime();
    }

    protected BenchmarkAgentProxy getAgentProxy() {
        if (agentProxies.isEmpty()) {
            return null;
        }

        return (BenchmarkAgentProxy) agentProxies.get(0);
    }
}