Robobot new behaviour plan

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Back to Robobot software description

Create a new behaviour plan

Copy from existing plan

The easy way is to copy an existing plan, e.g.:

$ cd ~/svn/robobot/raubase/src
$ cp bplan20.cpp bplan100.cpp
$ cp bplan20.h bplan100.h

Then add the new plan to the repository (if a repository is used)

Rename class name

A number of variables and types need to be renamed.

Header file

• Search and replace 'BPlan20' to 'BPlan100' (three places)
• rename 'plan20' (last line) to 'plan100'

The bplan100.h should be changes to look like:

class BPlan100
{
public:
    ~BPlan100();
  void setup();
  void run();
  ...
};
extern BPlan100 plan100;

Cpp file

• Change the includefile "bplan20.h" to "bplan100.h"
• Rename 'BPlan20' to 'BPlan100'
• Change all "plan20" to "plan100" to name the new class, make a new section in the configuration file, and change the name of the logfile.
• Change all "Plan20" to "Plan100" - used in comments and debug print.

Parts of the new file could looks like:

...
#include "bplan100.h"

// create class object
BPlan100 plan100;

void BPlan100::setup()
{ // ensure there is default values in ini-file
 if (not ini["plan100"].has("log"))
 { // no data yet, so generate some default values
   ini["plan100"]["log"] = "true";
   ini["plan100"]["run"] = "false";
...

==== Include the new plan in the main.cpp function

The main.cpp gives the execution order, so include the definition and add this new plan to the right place, like:

$ cd ~/svn/robobot/raubase/src
$ nano main.cpp
...
#include "bplan21.h"
#include "bplan40.h"
#include "bplan100.h"

int main (int argc, char **argv)
{ // prepare all modules and start data flow
  bool setupOK = service.setup(argc, argv);
  if (setupOK)
  { // turn on LED on port 16
    gpio.setPin(16, 1);
    // run the planned missions
    plan100.run();
    plan20.run();
    plan21.run();
    plan40.run();
    //
    mixer.setVelocity(0.0);
    ...

Change the BPlan100::run() function as appropriate

...
void BPlan100::run()
{
 if (not setupDone)
   setup();
 if (ini["plan100"]["run"] == "false")
   return;
 //
 UTime t("now");
 bool finished = false;
 bool lost = false;
 state = 10;
 oldstate = state;
 //
 toLog("Plan100 started");
 //
 while (not finished and not lost and not service.stop)
 {
   switch (state)
   { // make a shift in heading-mission
     case 10:
       toLog("Reset pose");
...

Add to CMakeLists.txt

Add the new cpp file to the CMakeLists.txt to the list of files, like

$ cd ~/svn/robobot/raubase
$ nano CMakeLists.txt
...
add_executable(raubase
     src/bplan20.cpp
     src/bplan21.cpp
     src/bplan40.cpp
     src/bplan100.cpp
     src/cedge.cpp
     src/cheading.cpp
...

Compile

(hertil)