Revision 7db6cf9f

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scout/libscout/launch/helper_nodes.launch
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<launch>
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  <node name="motors" pkg="motors" type="motors_node" />
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  <node name="encoders" pkg="encoders" type="encoders_node" />
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  <!-- TODO add more -->
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  <!-- @todo add more -->
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</launch>
scout/libscout/launch/rosscout.launch
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<launch>
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  <include file="$(find scout_avr)/launch/rosserial.launch" />
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  <include file="$(find libscout)/launch/helper_nodes.launch" />
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  <!-- TODO launch a top-level libscout behavior -->
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  <!-- @todo launch a top-level libscout behavior -->
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</launch>
scout/libscout/src/MotorControl.cpp
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 * Sends a request to the query_motors service which will reply with the
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 *  current speed of each motor.
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 *
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 * @TODO Change so we can get multiple motor speeds with one call
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 * @todo Change so we can get multiple motor speeds with one call
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 *
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 * @param which A bitmask that will specify which motor speed should be
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 *  returned
scout/libscout/src/SonarControl.cpp
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 **/
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//float sonar_to_dist(float sonar_value)
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//{
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    //TODO impelement later based on sonar readings
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    //@todo impelement later based on sonar readings
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//    return sonar_value;
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//}
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......
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 **/
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//float dist_to_sonar(float distance)
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//{
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    //TODO implement later based on sonar readings
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    //@todo implement later based on sonar readings
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//    return distance;
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//}
scout/libscout/src/behaviors/navigationMap.cpp
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    //sets the current state to the state associated with the turn made
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    if(GET_EDGE_DIR(possible_edges[i]) == turn_made)
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    {
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      //TODO: get actual speed
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      //@todo: get actual speed
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      int speed = 10;
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      curr_state = GET_EDGE_STATE(possible_edges[i]);
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      Duration travel_time(GET_EDGE_DIST(possible_edges[i])/speed);
scout/libscout/src/helper_classes/PQWrapper.cpp
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/** @Brief: Remove and return an Order from the array if 0 <= index < arrContents. */
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Order PQWrapper::remove(unsigned int index)
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{
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    if (index >= arrContents) return minElems[-1];//TODO: can I return null?
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    if (index >= arrContents) return minElems[-1];// @todo: can I return null?
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    Order toDelete = minElems[index];
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    for (unsigned int i = index; i < arrContents - 1; i++) 
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    {
......
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{
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    if (index >= arrContents)
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    {
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        return minElems[-1];//TODO: can I return null?
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        return minElems[-1];// @todo: can I return null?
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    } 
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    else 
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    {
scout/libscout/src/test_behaviors/Scheduler.cpp
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    Time end_time = order.get_start_time() - order.get_est_time();
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    if(end_time.toSec() + MAX_WAIT_TIME < time) //TODO: use another function
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    if(end_time.toSec() + MAX_WAIT_TIME < time) //@todo: use another function
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    {
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      //best = &order;
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      best_index = i;
scout/libscout/src/test_behaviors/WH_Robot.cpp
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  follow_path(new_path);
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  //TODO: forklift yaaaay
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  //@todo: forklift yaaaay
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  int did_task_complete;
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scout/libscout/src/test_behaviors/maze_solve.cpp
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#define LEFT 3
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#define WALL_LIMIT 500
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// TODO This is bad! It's defined globally across all files. Please put it inside a good scope. -Alex
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// @todo This is bad! It's defined globally across all files. Please put it inside a good scope. -Alex
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Duration sonar_update_time(1.5);
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void maze_solve::run()
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{    
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    // TODO:first initialize map to all 0's
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    // @todo:first initialize map to all 0's
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    ROS_INFO("Starting to solve the maze");
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    // Go up to the first line.
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    follow_line();
scout/libscout/src/test_behaviors/smart_runaround.cpp
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    return output;
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}
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// TODO This is bad! It's defined globally across all behaviors. Please fix this. -Alex
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// @todo This is bad! It's defined globally across all behaviors. Please fix this. -Alex
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Duration sonar_update_time2(1.5);
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// THIS VERSION MODIFIED BY ZANE
......
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 * and turns the scout to the intended direction
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 */
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void smart_runaround::turn_from_to(int current_dir, int intended_dir) {
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    switch ((4 + intended_dir - current_dir) % 4) // TODO: Try without "4 +" at start
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    switch ((4 + intended_dir - current_dir) % 4) // @todo: Try without "4 +" at start
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    {
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        case 0:
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	    turn_straight(intended_dir);
......
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    return true;
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}
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// TODO: test this function
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// @todo: test this function
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// return true iff the map has been completely explored
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// and only true if it "returned" to home destination after solving
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bool smart_runaround::at_destination() 
......
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    return false;
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}
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// TODO: test these functions to make sure robot moves well
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// @todo: test these functions to make sure robot moves well
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// move forward one block in direction "dir"
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void smart_runaround::turn_straight(int dir)
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{
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    // TODO: try to use motor encoder values to move forward enough
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    // @todo: try to use motor encoder values to move forward enough
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    motors->set_sides(BASESPEED, BASESPEED, MOTOR_ABSOLUTE);
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    spinOnce();
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    Duration moveTime(1.0);
scout/messages/msg/bom.msg
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int8 send_dir
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int8 recv_dir
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# TODO these may need to be changed
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# @todo these may need to be changed
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int8 FRONT = 0
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int8 LEFT  = 1
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int8 BACK  = 2
scout/painter/src/paint-i2c.cpp
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 * This function opens communication to I2C.
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 */
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void i2c_start(void) {
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  /* TODO error check */
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  /* @todo error check */
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  fd = open("/dev/i2c-3", O_RDWR);
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  ioctl(fd, I2C_SLAVE, TRACKING_ID);
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}
scout/power/src/power.cpp
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/** @todo Fix types: static */
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/** @TODO figure out if we can get things like the current draw from the AVR. */
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/** @TODO More generally, figure out how we get info from the AVR (avrbridge
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/** @todo figure out if we can get things like the current draw from the AVR. */
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/** @todo More generally, figure out how we get info from the AVR (avrbridge
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 * node?) */
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uint32_t voltage; /**< the current voltage */
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uint32_t percentage; /**< current percentage of power remaining */
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uint32_t draw; /**< the current draw in mW */
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/** @TODO: figure out if these have to be uint8_t's to play nice with ROS */
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/** @todo: figure out if these have to be uint8_t's to play nice with ROS */
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bool externalpower; /**< are we on external power? */
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bool warning; /**< is the battery reporting a warning state? */
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bool critical; /**< is the battery reporting a critical state? */
......
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}
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87 87

  
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/** @TODO: implement a function to send a message about the power state when
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/** @todo: implement a function to send a message about the power state when
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 * it's critical. can't do much with this until I have some way of reading the
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 * power state from the AVR, I don't believe. */
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scout/scoutsim/GUI.py
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    def terminateOldBehavior(self):
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        if self.process != None:
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            # now terminate the process
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            self.process.kill() #TODO: this kills the process
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            self.process.kill()      # @todo: this kills the process
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                                     #      but maybe not the rosnode
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                                     #      change to "rosnode kill" instead
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            # make sure old behavior is terminated before we run the new one
scout/scoutsim/src/scout.cpp
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    /// Sends back the position of this scout so scoutsim can save
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    /// the world state
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    /// TODO remove dt param
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    /// @todo remove dt param
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    geometry_msgs::Pose2D Scout::update(double dt, wxMemoryDC& path_dc,
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                                        wxMemoryDC& sonar_dc,
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                                        const wxImage& path_image,
scout/scoutsim/src/scout_constants.h
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#include <messages/set_motors.h>
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/// TODO put these in a utility file somewhere?
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/// @todo put these in a utility file somewhere?
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#define min(x,y) ((x < y) ? x : y)
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#define max(x,y) ((x > y) ? x : y)
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