C++ main entry point - Revision history

Jca: /* Main */

2024-01-23T08:08:52Z

Main

← Older revision		Revision as of 10:08, 23 January 2024
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	== Main ==		== Main ==

	C++ starts executing a function called ''main(int argc, char ** argv)''		C++ starts executing a function called ''main(int argc, char ** argv)''.
			In Robobot, this is relatively simple, and the intention is explained here.
	In Robobot, this is ~~rather~~ simple and the intention is explained here.

	The main.cpp file looks like this (slightly reduced):		The main.cpp file looks like this (slightly reduced):

2024-01-23T08:04:18Z

Main

← Older revision		Revision as of 10:04, 23 January 2024
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	{ // turn on LED on port 16		{ // turn on LED on port 16
	gpio.setPin(16, 1);		gpio.setPin(16, 1);
	// ~~run~~ the ~~planned missions~~ in this sequence		//
			// Run the behaviour plans in this sequence
	plan20.run();		plan20.run();
	plan40.run();		plan40.run();

2024-01-23T08:03:17Z

Main

← Older revision		Revision as of 10:03, 23 January 2024
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	#include <string>		#include <string>
	//		//
	// ~~include~~ local files for data values and functions		// Include local files for data values and functions
	#include "uservice.h"		#include "uservice.h"
	#include "cmixer.h"		#include "cmixer.h"
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	gpio.setPin(16, 1);		gpio.setPin(16, 1);
	// run the planned missions in this sequence		// run the planned missions in this sequence
	~~// example odometry drive using distance and turned angle~~
	plan20.run();		plan20.run();
	~~// example odometry drive using distance and turned angle~~
	plan40.run();		plan40.run();
	//		//
	mixer.setVelocity(0.0);		mixer.setVelocity(0.0);
	mixer.setTurnrate(0.0);		mixer.setTurnrate(0.0);
	sleep(1); // to allow robot to stop while logging is running		sleep(1); // to allow the robot to stop while logging is running
	// turn off led 16		// turn off led 16
	gpio.setPin(16, 0);		gpio.setPin(16, 0);

2024-01-23T08:01:26Z

Run mission

← Older revision		Revision as of 10:01, 23 January 2024
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	}		}

	~~In the~~ behaviour plan itself (in '''bplan20.cpp'''~~, it is tested~~ whether the plan should be active.		The behaviour plan itself (in '''bplan20.cpp''') tests whether the plan should be active.

	void BPlan20::run()		void BPlan20::run()

2024-01-23T08:00:35Z

Run mission

← Older revision		Revision as of 10:00, 23 January 2024
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	In the ~~actual behaviour plan~~		The '''ini["plan20"]["run"]''' refers to the configuration file.

	It can be activated by setting the ''run'' flag to "true" in the ''robot.ini'' configuration file.		The plan can be activated by setting the ''run'' flag to "true" in the ''robot.ini'' configuration file.

	; part of robot.ini file		; part of robot.ini file
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	print = true		print = true

	The sequence of the entire mission is handled in this ''main'' function. In this case, the ~~entire~~ mission consists of ''plan20'' and ''plan40''.		The sequence of the entire mission is handled in this ''main'' function. In this case, the mission consists of ''plan20'' and ''plan40''.

	You are, of course, allowed to change whatever you like, especially if you find more innovative ways to do it.		You are, of course, allowed to change whatever you like, especially if you find more innovative ways to do it.

2024-01-23T07:58:19Z

Run mission

2024-01-23T07:58:04Z

Run mission

@@ Line 71: / Line 71: @@
      '''plan20.run'''();
      ...
+ }
 In the actual behaviour plan

2024-01-23T07:55:40Z

Run mission

← Older revision		Revision as of 09:55, 23 January 2024
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	The entire mission can be divided into smaller parts that can be tested individually.		The entire mission can be divided into smaller parts that can be tested individually.

	One example could be ''plan20''.		One example could be ''plan20'' in the example above in the '''main.cpp''' file.

	if (~~ini["plan20"]["run"] != "true"~~)		int main(...)
	{ ~~// example odometry drive using distance and turned angle~~		{
	'''plan20.run'''();		...
	}		'''plan20.run'''();
			...
			}

			In the actual behaviour plan

	It can be activated by setting the ''run'' flag to "true" in the ''robot.ini'' configuration file.		It can be activated by setting the ''run'' flag to "true" in the ''robot.ini'' configuration file.

2024-01-18T13:49:35Z

← Older revision		Revision as of 15:49, 18 January 2024
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	The main function handles:		The main function handles:
	* '''setup''' of all modules by calling ''setup(...)'' in the service module.		* '''setup''' all modules by calling ''setup(...)'' in the service module.
	* '''run''' the mission (or missions) needed.		* '''run''' the mission (or missions) needed.
	* '''stop and terminate''' ~~in a proper way~~; the service module handles the termination details.		* '''stop and terminate''' properly; the service module handles the termination details.

	=== Run mission ===		=== Run mission ===
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	=== Copyright ===		=== Copyright ===

	All software, specific for Robobot, is free to use and change, according to the MIT License~~. One~~ of the least restrictive copyright types.		All software, specific for Robobot, is free to use and change, according to the MIT License, one of the least restrictive copyright types.

	=== Include files ===		=== Include files ===

	~~To call functions, the~~ compiler needs to know where these functions are defined. C++ handles this by including the needed files ~~prior to~~ compiling.		The compiler needs to know where these functions are defined to call functions. C++ handles this by including the needed files before compiling.

	Where to look for these files is indicated by the brackets, like		Where to look for these files is indicated by the brackets, like

2023-12-31T11:29:47Z

← Older revision		Revision as of 13:29, 31 December 2023
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	Back to [[Robobot B]].		Back to [[Robobot B]].

	Back to [[Robobot software description]]		Back to [[Robobot software description]]