Robobot software building blocks - Revision history

Jca: /* C++ class structure */

2023-12-29T16:27:53Z

C++ class structure

← Older revision		Revision as of 18:27, 29 December 2023
Line 26:		Line 26:

	All classes have the same base 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):		As an example (of a relatively simple class), the behaviour example called 'bplan20' is shown below; first the class definition in ''bplan20.h'' (most comments removed):

	1 #pragma once		1 #pragma once
	2 using namespace std;		2 using namespace std;
	3 class ~~BPlan1~~		3 class BPlan20
	4 {		4 {
	5 public:		5 public:
	6 ~~~BPlan1~~();		6 ~BPlan20();
	7 void setup();		7 void setup();
	8 void run();		8 void run();
	9 void terminate();		9 void terminate();
	10 private:		10 private:
	11 void toLog(const char * message);		11 void toLog(const char * message);
	12 int ~~logCnt = 0~~;		12 int state, oldstate;
	13 bool toConsole = true;		13 bool toConsole = true;
	14 FILE * logfile = nullptr;		14 FILE * logfile = nullptr;
	15 bool setupDone = false;		15 bool setupDone = false;
	16 };		16 };
	17 extern ~~BPlan1 plan1~~;		17 extern BPlan20 plan20;

	Line 1 is just to ensure that this definition is read once only.		Line 1 is just to ensure that this definition is read once only.
Line 58:		Line 58:
	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 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 12-15 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).		Line 17 creates a reference to an instance of this class (the instance is created in the implementation file bplan20.cpp).

	=== Class implementation file ===		=== Class implementation file ===
Line 90:		Line 90:

	void BPlan20::setup()		void BPlan20::setup()
	{ // ensure there is default values in ini-file		{ // ensure there are default values in ini-file
	if (not ini.has("plan20"))		if (not ini.has("plan20"))
	{ // no data yet, so generate some default values		{ // no data yet, so generate some default values
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	'''mixer.setVelocity(0.0);		'''mixer.setVelocity(0.0);
	mixer.setTurnrate(0.5);'''		mixer.setTurnrate(0.5);'''
	~~t.now();~~
	state = 21;		state = 21;
	}		}
Line 158:		Line 157:
	{		{
	'''mixer.setDesiredHeading(M_PI);'''		'''mixer.setDesiredHeading(M_PI);'''
	~~toLog("now go back");~~
	mixer.setVelocity(0.3);		mixer.setVelocity(0.3);
	~~mixer.setTurnrate(0.0);~~
	// reset driven distance		// reset driven distance
	pose.dist = 0;		pose.dist = 0;
	state = 31;		state = 31;
	~~t.now();~~
	}		}
	else if (t.getTimePassed() > 12)		else if (t.getTimePassed() > 12)
Line 187:		Line 183:
	oldstate = state;		oldstate = state;
	toLog("state start");		toLog("state start");
	// reset time in new state		// reset state time for new state
	t.now();		t.now();
	}		}
Line 194:		Line 190:
	}		}
	'''if (lost)'''		'''if (lost)'''
	{ // there may be better options, but for now - stop		{ // there may be better 'lost' options, but for now - stop
	toLog("Plan20 got lost");		toLog("Plan20 got lost");
	mixer.setVelocity(0);		mixer.setVelocity(0);

Jca: /* state 31 */

2023-12-29T16:20:35Z

state 31

← Older revision		Revision as of 18:20, 29 December 2023
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	This state finishes the plan20 mission.		This state finishes the plan20 mission.

	The ~~distance~~ is ~~further reset for~~ the ~~following distance check in state 31~~.		The control is returned to the ''main'' code.

	~~And then~~

Jca: /* state 21 */

2023-12-29T16:19:27Z

state 21

← Older revision		Revision as of 18:19, 29 December 2023
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	There are (pt.) 3 heading modes:		There are (pt.) 3 heading modes:
	* ~~set the turnrate~~ ''mixer.setTurnrate(<rad/sec signed>)''		* ''mixer.setTurnrate(<rad/sec signed>)'' for a specific turnrate.
	* ~~set the desired heading~~ ''mixer.setDesiredHeading(<angle in radians>)''		* ''mixer.setDesiredHeading(<angle in radians>)'' to keep a specific heading (since last pose reset).
	* ~~set line-edge follow mode~~ ''mixer.setEdgeMode(<left or right (bool)>, <edge offset (m)>)''		* ''mixer.setEdgeMode(<left or right (bool)>, <edge offset (m)>)'' to follow a line edge.
	The call sets ~~them~~.		The call sets the heading mode.

	==== state 31 ====		==== state 31 ====

Jca: /* state 21 */

2023-12-29T16:17:12Z

state 21

← Older revision		Revision as of 18:17, 29 December 2023
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	mixer.setDesiredHeading(M_PI);		mixer.setDesiredHeading(M_PI);
	In this case, it would almost be the same as setting the turn rate to zero, but using the angle may be more accurate.		In this case, it would almost be the same as setting the turn rate to zero, but using the angle may be more accurate.

			There are (pt.) 3 heading modes:
			* set the turnrate ''mixer.setTurnrate(<rad/sec signed>)''
			* set the desired heading ''mixer.setDesiredHeading(<angle in radians>)''
			* set line-edge follow mode ''mixer.setEdgeMode(<left or right (bool)>, <edge offset (m)>)''
			The call sets them.

	==== state 31 ====		==== state 31 ====

Jca: /* Class implementation file */

2023-12-29T16:13:12Z

Class implementation file

← Older revision		Revision as of 18:13, 29 December 2023
Line 111:		Line 111:
	setupDone = true;		setupDone = true;
	}		}

	BPlan20::~BPlan20()		BPlan20::~BPlan20()
	{		{
Line 121:		Line 121:
	if (not setupDone) setup();		if (not setupDone) setup();
	//		//
	UTime t;		UTime t("now");
	bool finished = false;		bool finished = false;
	bool lost = false;		bool lost = false;
Line 138:		Line 138:
	toLog("forward at 0.3m/s");		toLog("forward at 0.3m/s");
	'''mixer.setVelocity(0.3);'''		'''mixer.setVelocity(0.3);'''
	~~t.now();~~
	'''state = 11;'''		'''state = 11;'''
	break;		break;

Jca: /* case 11 */

2023-12-29T16:05:19Z

case 11

← Older revision		Revision as of 18:05, 29 December 2023
Line 295:		Line 295:
	break;		break;

	The driven distance is checked (maintained in the ''pose'' module) and checks the time using a utility function from ''utime.h''.		The driven distance is checked (maintained in the ''pose'' module) and checks the state time using a utility function from ''utime.h''.

	When the distance completed, ~~then~~ next function is set:		When the distance is completed, the next function is set:
	pose.turned = 0.0;		pose.turned = 0.0;
	mixer.setVelocity(0.0);		mixer.setVelocity(0.0);
	mixer.setTurnrate(0.5);		mixer.setTurnrate(0.5);
	The turned angle is reset, the forward velocity set to zero and a ~~turnrate~~ of 0.5 radians per second (~~counter clockwise~~, as the ~~turnrate~~ is positive).		The turned angle is reset, the forward velocity is set to zero, and a turn rate of 0.5 radians per second (counterclockwise, as the turn rate is positive).

	==== state 21 ====		==== state 21 ====

Jca: /* case 10 */

2023-12-29T16:03:27Z

case 10

← Older revision		Revision as of 18:03, 29 December 2023
Line 273:		Line 273:
	toLog("forward at 0.3m/s");		toLog("forward at 0.3m/s");
	mixer.setVelocity(0.3);		mixer.setVelocity(0.3);
	~~t.now();~~
	state = 11;		state = 11;
	break;		break;
	It calls a function in the ''mixer'' module and sets the forward velocity to 0.3 m/sec. Then, set the next state to 11 ~~(and note the time ''t.now()''~~.		It calls a function in the ''mixer'' module and sets the forward velocity to 0.3 m/sec. Then, set the next state to 11.

	==== case 11 ====		==== case 11 ====

Jca: /* case 11 */

2023-12-29T16:02:58Z

case 11

← Older revision		Revision as of 18:02, 29 December 2023
Line 290:		Line 290:
	mixer.setVelocity(0.0);		mixer.setVelocity(0.0);
	mixer.setTurnrate(0.5);		mixer.setTurnrate(0.5);
	~~t.now();~~
	state = 21;		state = 21;
	}		}

Jca: /* case 11 */

2023-12-29T16:01:48Z

case 11

← Older revision		Revision as of 18:01, 29 December 2023
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	if (pose.dist >= 0.3)		if (pose.dist >= 0.3)
	{ // done, and then		{ // done, and then
	toLog("now turn at 0.5 rad/s and ~~0.15m~~/s");		toLog("now turn at 0.5 rad/s and 0m/s");
	// reset turned angle		// reset turned angle
	pose.turned = 0.0;		pose.turned = 0.0;

Jca: /* behaviour code */

2023-12-29T16:00:54Z

behaviour code

@@ Line 246: / Line 246: @@
 === behaviour code ===
-The ''::run()'' has the needed behaviour code.
+The ''plan20::run()'' has the needed behaviour code.
 The function is actually called from the ''main.cpp'' code.