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authorhaller2006-05-24 10:57:44 +0000
committerhaller2006-05-24 10:57:44 +0000
commit75192e6d726a30bde79482cdcdf11477233165a6 (patch)
tree0aebcfe6ac01d9d43172f7988ee94470d9c129f2 /i
parent482a9138976d0ff294a4555e98d8533b037f25d1 (diff)
* début de codage de l'AI
* Déclaration des fonction basiques (constructeur, destruct, init...) * Définition de quelques fonctions
Diffstat (limited to 'i')
-rw-r--r--i/marvin/src/ai/ai.cc61
-rw-r--r--i/marvin/src/ai/ai.hh60
2 files changed, 121 insertions, 0 deletions
diff --git a/i/marvin/src/ai/ai.cc b/i/marvin/src/ai/ai.cc
new file mode 100644
index 0000000..d869eae
--- /dev/null
+++ b/i/marvin/src/ai/ai.cc
@@ -0,0 +1,61 @@
+// ai.cc
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Nicolas Haller
+//
+// This program 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 2 of the License, or
+// (at your option) any later version.
+//
+// This program 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 this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// Contact :
+// Web: http://perso.efrei.fr/~haller/
+// Email: <nicolas@boiteameuh.org>
+// }}}
+#include "ai.hh"
+
+//constructeur
+Ai::Ai(const Config & config)
+ :motor_(config), es_(config),
+ schedulableMotor_(callback, motor_.getFd()),
+ schedulableEs_(callback, es_.getFd()),
+ roundDuration_(config.get<int>("ai.roundDuration"))
+{
+ scheduler_.insert(schedulableMotor_);
+ scheduler_.insert(schedulableEs_);
+}
+
+Ai::~Ai(void)
+{
+ // On rinitialise
+ // Initialise les moteurs
+ motor_.init();
+ // initialise la carte es
+ es_.init();
+ // On sync
+ do
+ {
+ scheduler_.schedule(500, true);
+ }
+ while (!sync ());
+}
+// Initialisation du robal
+void
+Ai::init(void)
+{
+ // Initialisation de motor
+ motor_.init();
+ // Initialisation de la carte Es
+ es_.init();
+ // Paf on sync
+ while(!update());
+}
diff --git a/i/marvin/src/ai/ai.hh b/i/marvin/src/ai/ai.hh
new file mode 100644
index 0000000..89f2cd3
--- /dev/null
+++ b/i/marvin/src/ai/ai.hh
@@ -0,0 +1,60 @@
+#ifndef ai_hh
+#define ai_hh
+// ai.hh
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Nicolas Haller
+//
+// This program 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 2 of the License, or
+// (at your option) any later version.
+//
+// This program 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 this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// Contact :
+// Web: http://perso.efrei.fr/~haller/
+// Email: <nicolas@boiteameuh.org>
+// }}}
+/// Intelligence suprieur( celui d'une balle de ping-pong) artificielle
+/// (comme une blonde) du robot.
+class Ai
+{
+ private:
+ // Modules de contrles du robot
+ Motor motor_;
+ Es es_;
+ // Le scheduler
+ scheduler::Scheduler scheduler_;
+ scheduler::SchedulableReadFd schedulableMotor_;
+ scheduler::SchedulableReadFd schedulableEs_;
+ // Paramtres gnrales du robot
+ const int RoundDuration_;
+ public:
+ /// Constructeur
+ Ai(const Config & config);
+ /// Destructeur du robot
+ ~Ai(void);
+
+ /// Initialisation du robal
+ void init(void);
+ /// Arrte compltement le robot
+ void stop(void);
+ /// Fonction de tempo
+ /// XXX Vrifier que ce soit bien des milisec
+ void temporisation (int msec);
+ /// Attend le jack rentre(false) ou sorte (true)
+ void waitJack (bool out);
+ /// Attend une mise jour...
+ bool update (void);
+ /// La clbre fonction sync
+ bool sync (void);
+};
+#endif // ai_hh