From 75192e6d726a30bde79482cdcdf11477233165a6 Mon Sep 17 00:00:00 2001 From: haller Date: Wed, 24 May 2006 10:57:44 +0000 Subject: * début de codage de l'AI * Déclaration des fonction basiques (constructeur, destruct, init...) * Définition de quelques fonctions --- i/marvin/src/ai/ai.cc | 61 +++++++++++++++++++++++++++++++++++++++++++++++++++ i/marvin/src/ai/ai.hh | 60 ++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 121 insertions(+) create mode 100644 i/marvin/src/ai/ai.cc create mode 100644 i/marvin/src/ai/ai.hh (limited to 'i') 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: +// }}} +#include "ai.hh" + +//constructeur +Ai::Ai(const Config & config) + :motor_(config), es_(config), + schedulableMotor_(callback, motor_.getFd()), + schedulableEs_(callback, es_.getFd()), + roundDuration_(config.get("ai.roundDuration")) +{ + scheduler_.insert(schedulableMotor_); + scheduler_.insert(schedulableEs_); +} + +Ai::~Ai(void) +{ + // On réinitialise + // 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: +// }}} +/// Intelligence supérieur(à celui d'une balle de ping-pong) artificielle +/// (comme une blonde) du robot. +class Ai +{ + private: + // Modules de contrôles du robot + Motor motor_; + Es es_; + // Le scheduler + scheduler::Scheduler scheduler_; + scheduler::SchedulableReadFd schedulableMotor_; + scheduler::SchedulableReadFd schedulableEs_; + // Paramètres générales du robot + const int RoundDuration_; + public: + /// Constructeur + Ai(const Config & config); + /// Destructeur du robot + ~Ai(void); + + /// Initialisation du robal + void init(void); + /// Arrête complêtement le robot + void stop(void); + /// Fonction de tempo + /// XXX Vérifier 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 à jour... + bool update (void); + /// La célèbre fonction sync + bool sync (void); +}; +#endif // ai_hh -- cgit v1.2.3