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== C++ code ==

The ''Raubase'' software is built in modules with mostly only one function, structured from the 'NASREM' architecture.

[[File:Robobot_level_3.png | 800px]]

Figure. The NASREM model is shown on the top right. This figure is for level 3 and primarily shows the behaviour and vision-related blocks.

=== File names ===

Each module has a header-file with the definition (e.g. bplan.h) of a class and a file with implementation (e.g. bplan.cpp).

The first letter in the filename is related to the NASREM model as:

* sxxxxx.h/.cpp are sensor retrival classes.
* mxxxxx.h/.cpp are modelling and feature extraction classes.
* cxxxxx.h/.cpp are control classes.
* bxxxxx.h/.cpp are behaviour classes.
* uxxxxx.h/.cpp are utility functions.

== C++ class structure ==

All classes have the same base structure.
As an example (of a relatively simple class), the behaviour example called 'bplan1' is shown below; first the class definition in ''bplan1.h'' (all comments removed):

 1   #pragma once
 2   using namespace std;
 3   class BPlan1
 4   {
 5   public:
 6     ~BPlan1();
 7     void setup();
 8     void run();
 9     void terminate(); 
 10  private:
 11    void toLog(const char * message);
 12    int logCnt = 0;
 13    bool toConsole = true;
 14    FILE * logfile = nullptr;
 15    bool setupDone = false;
 16  };
 17  extern BPlan1 plan1;

Line 1 is just to ensure that this definition is read once only.

Line 2 is to simplify some notations

Line 3 Is the start of the class definition, the class names start with Capital letters, following the normal convention for type definitions.

Line 6 Is the destructor that will ensure log files are properly closed.

Line 7-9 define the general functions to start (setup), run and terminate the class. Setup reads the configuration file (robot.ini), and prepares logfiles and other initialization tasks.

Line 11 defines a function to make it easier to save data to the logfile, in this case, the log is text messages. The function adds a timestamp for each call so that the timing of the message can be compared with other logfiles.

Line 13-15 are other private variables.

Line 17 creates a reference to an instance of this class (the instance is created in the implementation file bplan1.cpp).