view main/robots/odr/SquareCourseTask.cpp @ 225:c4009187a522 main

Checkpoint
author Bob Cook <bob@bobcookdev.com>
date Sat, 28 Jun 2014 16:12:28 -0700
parents 8e6ca2ead01a
children 1d246b3260c4
line wrap: on
line source

// ----------------------------------------------------------------------------------------
//
//  robots/odr/SquareCourseTask.cpp
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
//
//  Subsumption task to navigate in a square shape.
//
//  Copyright (c) 2013 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#include "SquareCourseTask.h"

#include <cmath>

#include <Poco/Logger.h>
#include <Poco/NumberFormatter.h>

#include "MotorsAndServos.h"
#include "Scoreboard.h"

// ----------------------------------------------------------------------------------------

static const Poco::Timestamp::TimeDiff sRunTimeUntilDirectionChange
                                                      = Poco::Timestamp::resolution() * 60;

// ----------------------------------------------------------------------------------------

SquareCourseTask::SquareCourseTask( const std::string& loggerName )
    : TaskObject( loggerName ),
      m_heading( 0.0 ),
      m_nextSwitchTime()
{
}

// ----------------------------------------------------------------------------------------

SquareCourseTask::~SquareCourseTask()
{
}

// ----------------------------------------------------------------------------------------

void SquareCourseTask::update()
{
    if ( m_nextSwitchTime.isElapsed( sRunTimeUntilDirectionChange ) )
    {
        m_nextSwitchTime.update();

        m_heading += 90.0;
        if ( m_heading > 359.0 ) { m_heading = 0.0; }

        log().information(
            Poco::Logger::format(
                "SquareCourseTask: new heading $0",
                Poco::NumberFormatter::format( m_heading ) ) );

        Scoreboard::navSetTargetHeading( m_heading );
    }
}

// ----------------------------------------------------------------------------------------

bool SquareCourseTask::wantsControl()
{
    return false; // nothing to do here
}

// ----------------------------------------------------------------------------------------

void SquareCourseTask::takeControl()
{
    // nothing to do here
}

// ----------------------------------------------------------------------------------------