RobotInfo.java

package jp.ac.fit.asura.nao.communication;

//---------------------------------------------------------------------------------------
//File:         RobotInfo.java (to be used in a Webots java controllers)
//Date:         February 26, 2009
//Description:  This class is used to read a binary RobotInfo struct inside a
//            RoboCupGameControlData sent by nao_soccer_supervisor.c
//Project:      Robotstadium, the online robot soccer competition
//Author:       Yvan Bourquin - www.cyberbotics.com
//---------------------------------------------------------------------------------------

import java.nio.ByteBuffer;

public class RobotInfo {

	// penalties
//	public static final short PENALTY_NONE = 0;
//	public static final short PENALTY_ILLEGAL_DEFENDER = 4;

	// penalty
	public static final short PENALTY_NONE = 0;
	public static final byte PENALTY_BALL_HOLDING = 1;
	public static final byte PENALTY_PLAYER_PUSHING = 2;
	public static final byte PENALTY_OBSTRUCTION = 3;
	public static final byte PENALTY_INACTIVE_PLAYER = 4;
	public static final byte PENALTY_ILLEGAL_DEFENDER = 5;
	public static final byte PENALTY_LEAVING_THE_FIELD = 6;
	public static final byte PENALTY_PLAYING_WITH_HANDS = 7;
	public static final byte PENALTY_REQUEST_FOR_PICKUP = 8;

	private short penalty; // the penalty state of the robot
	private short secsTillUnpenalise; // estimated seconds till unpenalised

	public RobotInfo() {
	}

	public void readBytes(ByteBuffer buffer) {
		penalty = buffer.getShort();
		secsTillUnpenalise = buffer.getShort();
	}

	public short getPenalty() {
		return penalty;
	}

	public short getSecsTillUnpenalised() {
		return secsTillUnpenalise;
	}

	public void debug() {
		System.out.println("    penalty: " + penalty);
		System.out.println("    secsTillUnpenalise: " + secsTillUnpenalise);
	}
}