/**
* Handles a message that was received from a robot.
*
* @param address IP address of the sender
* @param teamNumber team number belonging to the port on which the message was received
* @param message received message
*/
public void receiveMessage(
final String address, final int teamNumber, final SPLStandardMessage message) {
int changed = 0;
// update the team info if no GameController info is available
if (lastGameControlData == null) {
synchronized (teamNumbers) {
boolean exists = false;
for (int i = 0; i < 2; i++) {
if (teamNumbers[i] == teamNumber) {
exists = true;
break;
}
}
if (!exists) {
for (int i = 0; i < 2; i++) {
if (teamNumbers[i] == 0) {
teamNumbers[i] = teamNumber;
// (re)load plugins
PluginLoader.getInstance().update(teamNumber);
changed = i + 1 | CHANGED_OTHER;
break;
}
}
}
}
}
// create the robot state if it does not yet exist
RobotState r;
synchronized (robotsByAddress) {
r = robotsByAddress.get(address);
if (r == null) {
r = new RobotState(address, teamNumber);
robotsByAddress.put(address, r);
}
Collection<RobotState> set = robots.get(teamNumber);
if (set == null) {
set = new HashSet<>();
robots.put(teamNumber, set);
}
if (set.add(r)) {
if (teamNumbers[TEAM_LEFT] == teamNumber) {
changed |= CHANGED_LEFT;
} else if (teamNumbers[TEAM_RIGHT] == teamNumber) {
changed |= CHANGED_RIGHT;
}
}
}
// let the robot state handle the message
r.registerMessage(message);
// send events
sendEvents(changed);
}
/**
* Updates info about the game with a message from the GameController.
*
* @param data data sent by the GameController
*/
public void updateGameData(final GameControlData data) {
int changed = 0;
if (data == null) {
if (lastGameControlData != null) {
synchronized (teamNumbers) {
teamNumbers[TEAM_LEFT] = 0;
teamNumbers[TEAM_RIGHT] = 0;
int s = 0;
for (final Entry<Integer, Collection<RobotState>> entry : robots.entrySet()) {
if (!entry.getValue().isEmpty()) {
teamNumbers[s++] = entry.getKey();
if (s == 2) {
break;
}
}
}
}
changed = CHANGED_LEFT | CHANGED_RIGHT | CHANGED_OTHER;
Logger.getInstance().createLogfile();
}
} else {
if (lastGameControlData == null) {
synchronized (teamNumbers) {
teamNumbers[TEAM_LEFT] = data.team[0].teamNumber;
teamNumbers[TEAM_RIGHT] = data.team[1].teamNumber;
}
changed = CHANGED_LEFT | CHANGED_RIGHT | CHANGED_OTHER;
} else {
synchronized (teamNumbers) {
if (data.team[0].teamNumber != teamNumbers[TEAM_LEFT]) {
teamNumbers[TEAM_LEFT] = data.team[0].teamNumber;
changed = CHANGED_LEFT | CHANGED_OTHER;
}
if (data.team[1].teamNumber != teamNumbers[TEAM_RIGHT]) {
teamNumbers[TEAM_RIGHT] = data.team[1].teamNumber;
changed = CHANGED_RIGHT | CHANGED_OTHER;
}
}
}
teamColors.put((int) data.team[0].teamNumber, (int) data.team[0].teamColor);
teamColors.put((int) data.team[1].teamNumber, (int) data.team[1].teamColor);
// Update penalties
for (final TeamInfo team : data.team) {
final Collection<RobotState> teamRobots = robots.get((int) team.teamNumber);
if (teamRobots != null) {
for (final RobotState r : teamRobots) {
if (r.getPlayerNumber() != null && r.getPlayerNumber() <= team.player.length) {
r.setPenalty(team.player[r.getPlayerNumber() - 1].penalty);
}
}
}
}
// Open a new logfile for the current GameController state if the
// state changed from or to initial/finished
final StringBuilder logfileName;
if ((data.team[0].teamNumber == 98 || data.team[0].teamNumber == 99)
&& (data.team[1].teamNumber == 98 || data.team[1].teamNumber == 99)) {
logfileName = new StringBuilder("Drop-in_");
if (data.firstHalf == GameControlData.C_TRUE) {
logfileName.append("1st");
} else {
logfileName.append("2nd");
}
logfileName.append("Half");
} else {
if (data.firstHalf == GameControlData.C_TRUE) {
logfileName =
new StringBuilder(getTeamName((int) data.team[0].teamNumber, false, false))
.append("_")
.append(getTeamName((int) data.team[1].teamNumber, false, false))
.append("_1st");
} else {
logfileName =
new StringBuilder(getTeamName((int) data.team[1].teamNumber, false, false))
.append("_")
.append(getTeamName((int) data.team[0].teamNumber, false, false))
.append("_2nd");
}
logfileName.append("Half");
}
if (data.gameState == GameControlData.STATE_READY
&& (lastGameControlData == null
|| lastGameControlData.gameState == GameControlData.STATE_INITIAL)) {
Logger.getInstance().createLogfile(logfileName.toString());
} else if (data.gameState == GameControlData.STATE_INITIAL
&& (lastGameControlData == null
|| lastGameControlData.gameState != GameControlData.STATE_INITIAL)) {
Logger.getInstance().createLogfile(logfileName.append("_initial").toString());
} else if (data.gameState == GameControlData.STATE_FINISHED
&& (lastGameControlData == null
|| lastGameControlData.gameState != GameControlData.STATE_FINISHED)) {
Logger.getInstance().createLogfile(logfileName.append("_finished").toString());
}
if (changed != 0) {
// (re)load plugins
PluginLoader.getInstance()
.update((int) data.team[0].teamNumber, (int) data.team[1].teamNumber);
}
}
lastGameControlData = data;
// Log the GameController data
if (data != null || changed != 0) {
Logger.getInstance().log(data);
}
// send events
sendEvents(changed);
}
