summaryrefslogtreecommitdiff
path: root/i/marvin/src/ai/ai.cc
blob: 1ad1df3dc143979d7bcb3556df30751ad809df54 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
// 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 r�initialise
    // Initialise les moteurs
    // XXX
//     motor_.init ();
    // initialise la carte es
    es_.reset ();
    // 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_.reset ();
    // Paf on sync
    while (!update ());
}

/// Synchronize data of under class
bool
Ai::sync (void)
{
    return es_.sync () && motor_.sync ();
}

/// Wait for something to happened
bool Ai::update (void)
{
    scheduler_.schedule (100, true);
    bool retour = sync ();
    // On v�rifie que le match n'est pas fini
    if (Timer::getRoundTime () > roundDuration_)
	throw std::runtime_error ("Fin de match, merci d'avoir
				  particip !");
    return retour;
}