File content as of revision 38:c9058a401410:

#include "ai.h"

namespace AI
{

Mutex waypoint_flag_mutex;

Waypoint* current_waypoint = NULL; //global scope

bool waypoint_reached = false; // is current waypoint reached

void ailayer(void const *dummy)
{
    current_waypoint = new Waypoint[5];

    current_waypoint[0].x = 1;
    current_waypoint[0].y = 1;
    current_waypoint[0].theta = 0.0;
    current_waypoint[0].pos_threshold = 0.05;
    current_waypoint[0].angle_threshold = 0.05*PI;

    current_waypoint[1].x = 2.2;
    current_waypoint[1].y = 1.5;
    current_waypoint[1].theta = PI/2;
    current_waypoint[1].pos_threshold = 0.05;
    current_waypoint[1].angle_threshold = 0.05*PI;

    current_waypoint[2].x = -999;

/*
    //TODO: temp current waypoint hack
    current_waypoint = new Waypoint;
    current_waypoint->x = 0.5;
    current_waypoint->y = 0.7;
    current_waypoint->theta = 0.0;
    current_waypoint->pos_threshold = 0.05;
    current_waypoint->angle_threshold = 0.05*PI;
    
    Waypoint* secondwp = new Waypoint;
    secondwp->x = 1.20;
    secondwp->y = 0.18;
    secondwp->theta = PI;
    secondwp->pos_threshold = 0.01;
    secondwp->angle_threshold = 0.00001;
*/    
    
    while(1)
    {
        Thread::wait(50);
        
        waypoint_flag_mutex.lock();
        if (checkWaypointStatus())
        {
            clearWaypointReached();
            if ((current_waypoint+1)->x != -999) 
                current_waypoint++;
        }
        waypoint_flag_mutex.unlock();
    }
}

void setWaypointReached()
{
    waypoint_reached = true;
}

void clearWaypointReached()
{
    waypoint_reached = false;
}

bool checkWaypointStatus()
{
    return waypoint_reached;
}

} //namespace