Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/AI/ai.cpp@30:791739422122, 2013-04-10 (annotated)

Committer:
rsavitski
Date:
Wed Apr 10 18:03:32 2013 +0000
Revision:
30:791739422122
Child:
33:a49197572737
ai layer thread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rsavitski 30:791739422122 1 #include "ai.h"
rsavitski 30:791739422122 2
rsavitski 30:791739422122 3 namespace AI
rsavitski 30:791739422122 4 {
rsavitski 30:791739422122 5
rsavitski 30:791739422122 6 Mutex waypoint_flag_mutex;
rsavitski 30:791739422122 7
rsavitski 30:791739422122 8 Waypoint* current_waypoint = NULL; //global scope
rsavitski 30:791739422122 9
rsavitski 30:791739422122 10 bool waypoint_reached = false; // is current waypoint reached
rsavitski 30:791739422122 11
rsavitski 30:791739422122 12 void ailayer(void const *dummy)
rsavitski 30:791739422122 13 {
rsavitski 30:791739422122 14 //TODO: temp current waypoint hack
rsavitski 30:791739422122 15 current_waypoint = new Waypoint;
rsavitski 30:791739422122 16 current_waypoint->x = 0.5;
rsavitski 30:791739422122 17 current_waypoint->y = 0.7;
rsavitski 30:791739422122 18 current_waypoint->theta = 0.0;
rsavitski 30:791739422122 19 current_waypoint->pos_threshold = 0.05;
rsavitski 30:791739422122 20 current_waypoint->angle_threshold = 0.1*PI;
rsavitski 30:791739422122 21
rsavitski 30:791739422122 22 Waypoint* secondwp = new Waypoint;
rsavitski 30:791739422122 23 secondwp->x = 2;
rsavitski 30:791739422122 24 secondwp->y = 1.2;
rsavitski 30:791739422122 25 secondwp->theta = PI;
rsavitski 30:791739422122 26 secondwp->pos_threshold = 0.05;
rsavitski 30:791739422122 27 secondwp->angle_threshold = 0.1*PI;
rsavitski 30:791739422122 28
rsavitski 30:791739422122 29
rsavitski 30:791739422122 30 while(1)
rsavitski 30:791739422122 31 {
rsavitski 30:791739422122 32 Thread::wait(100);
rsavitski 30:791739422122 33
rsavitski 30:791739422122 34 waypoint_flag_mutex.lock();
rsavitski 30:791739422122 35 if (checkWaypointStatus())
rsavitski 30:791739422122 36 {
rsavitski 30:791739422122 37 clearWaypointReached();
rsavitski 30:791739422122 38 delete current_waypoint;
rsavitski 30:791739422122 39 current_waypoint = secondwp;
rsavitski 30:791739422122 40 }
rsavitski 30:791739422122 41 waypoint_flag_mutex.unlock();
rsavitski 30:791739422122 42 }
rsavitski 30:791739422122 43
rsavitski 30:791739422122 44 Thread::yield(); //TODO!!!!!!!!!!!!!!!!!!!
rsavitski 30:791739422122 45 }
rsavitski 30:791739422122 46
rsavitski 30:791739422122 47 void setWaypointReached()
rsavitski 30:791739422122 48 {
rsavitski 30:791739422122 49 waypoint_reached = true;
rsavitski 30:791739422122 50 }
rsavitski 30:791739422122 51
rsavitski 30:791739422122 52 void clearWaypointReached()
rsavitski 30:791739422122 53 {
rsavitski 30:791739422122 54 waypoint_reached = false;
rsavitski 30:791739422122 55 }
rsavitski 30:791739422122 56
rsavitski 30:791739422122 57 bool checkWaypointStatus()
rsavitski 30:791739422122 58 {
rsavitski 30:791739422122 59 return waypoint_reached;
rsavitski 30:791739422122 60 }
rsavitski 30:791739422122 61
rsavitski 30:791739422122 62 } //namespace