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Revision dc742c14

IDdc742c140dd32eea71e8d73abafa3674079ba94e

Added by Alex Zirbel about 12 years ago

Fixed bugs and compiler warnings in old code.

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scout/libscout/CMakeLists.txt
30 30 
#target_link_libraries(example ${PROJECT_NAME})
31 31 

  		




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set(MAIN_FILES src/Behavior.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp)


  		




  33
  
  
    
set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/behaviors/navigationMap.cpp)


  		




  
  33
  
    
set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/behaviors/navigationMap.cpp src/behaviors/sim_line.cpp)


  		




  34
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set(TEST_BEHAVIOR_FILES src/behaviors/Scheduler.cpp src/behaviors/WH_Robot.cpp)


  		




  35
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set(HELPER_FILES src/helper_classes/Order.cpp src/helper_classes/PQWrapper.cpp)


  		




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set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/EncodersControl.cpp src/LinesensorControl.cpp)


  		












  

    
      scout/libscout/src/Behavior.cpp
    
  





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 * @param scoutname If nonempty, specifies which scout in the simulator


  		




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 *                  will be controlled by this behavior.


  		




  50
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 */


  		




  51
  
  
    
Behavior::Behavior(string scoutname, char* my_name)


  		




  
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Behavior::Behavior(string scoutname, string my_name)


  		




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{


  		




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    name = my_name;


  		




  54
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      scout/libscout/src/Behavior.h
    
  





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{


  		




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    public:


  		




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        // Initializes ROS for behavior


  		




  58
  
  
    
        Behavior(std::string scoutname, char* name);


  		




  
  58
  
    
        Behavior(std::string scoutname, std::string name);


  		




  59
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  60
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        /// Extended by subclasses to actually run the behavior.


  		




  61
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        virtual void run() = 0;


  		




  62
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  63
  
  
    
        //Name of behaviour


  		




  64
  
  
    
        const char* name;


  		




  
  63
  
    
        // Name of behaviour


  		




  
  64
  
    
        std::string name;


  		




  65
  65
  
    

  		




  66
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    protected:


  		




  67
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        ros::NodeHandle node;


  		












  

    
      scout/libscout/src/BehaviorList.cpp
    
  





  6
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  behavior_list.push_back((Behavior*)new draw_ccw_circle(scoutname));


  		




  7
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  behavior_list.push_back((Behavior*)new Odometry(scoutname));


  		




  8
  8
  
    
  behavior_list.push_back((Behavior*)new navigationMap(scoutname));


  		




  
  9
  
    
  behavior_list.push_back((Behavior*)new sim_line(scoutname));


  		




  9
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//  behavior_list.push_back((Behavior*)new Scheduler(scoutname));


  		




  10
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  return;


  		




  11
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}


  		












  

    
      scout/libscout/src/BehaviorList.h
    
  





  2
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#define _BEHAVIOR_LIST_H_


  		




  3
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  4
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#include "Behavior.h"


  		




  
  5
  
    
#include "behaviors/sim_line.h"


  		




  5
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#include "behaviors/draw_cw_circle.h"


  		




  6
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#include "behaviors/draw_ccw_circle.h"


  		




  7
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#include "behaviors/Odometry.h"


  		












  

    
      scout/libscout/src/behaviors/Scheduler.cpp
    
  





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    This function removes the order from assignedOrders. */


  		




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void Scheduler::task_complete(Order o)


  		




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{


  		




  69
  
  
    
    for (int i=0; i<assignedOrders.size(); i++)


  		




  
  69
  
    
    for (unsigned int i=0; i<assignedOrders.size(); i++)


  		




  70
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	{


  		




  71
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	    if (assignedOrders[i].getid()==o.getid())


  		




  72
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		{


  		




  ......




  96
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  double time = t.toSec();


  		




  97
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  98
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  Order* best;


  		




  99
  
  
    
  for(int i=0; i<unassignedOrders->arraySize(); i++)


  		




  
  99
  
    
  for(unsigned int i=0; i<unassignedOrders->arraySize(); i++)


  		




  100
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  {


  		




  101
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    Order order = unassignedOrders->peek(i);


  		




  102
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      scout/libscout/src/helper_classes/PQWrapper.cpp
    
  





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void PQWrapper::insert(Order o)


  		




  21
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{


  		




  22
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  23
  
  
    
    int position=0;


  		




  
  23
  
    
    unsigned int position=0;


  		




  24
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    bool foundPosition = false;


  		




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    while (!foundPosition && position < arrContents)


  		




  26
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    {


  		




  ......




  37
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    {


  		




  38
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        if (arrContents<arrCapacity)


  		




  39
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        {


  		




  40
  
  
    
            for (int i = arrContents; i >=position+1; i--) 


  		




  
  40
  
    
            for (unsigned int i = arrContents; i >=position+1; i--) 


  		




  41
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            {


  		




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                minElems[i] = minElems[i-1];


  		




  43
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            }            


  		




  ......




  47
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        else 


  		




  48
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        {


  		




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            pq.push(minElems[arrCapacity-1]);


  		




  50
  
  
    
            for (int i = arrContents-1; i >= position+1; i--) 


  		




  
  50
  
    
            for (unsigned int i = arrContents-1; i >= position+1; i--) 


  		




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            {


  		




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                minElems[i] = minElems[i-1];


  		




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            }            


  		




  ......




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{


  		




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    if (index >= arrContents) return minElems[-1];//TODO: can I return null?


  		




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    Order toDelete = minElems[index];


  		




  74
  
  
    
    for (int i = index; i < arrContents - 1; i++) 


  		




  
  74
  
    
    for (unsigned int i = index; i < arrContents - 1; i++) 


  		




  75
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    {


  		




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        minElems[i] = minElems[i+1];


  		




  77
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    }


  		












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