// 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()); }