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// 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
    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());
}