Update of /cvsroot/gcblue/gcb_wx/src/ai
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11465/src/ai
Modified Files:
Brain.cpp ScriptedTaskInterface.cpp Task.cpp
Log Message:
More OpenAL++ changes and ai improvements
Index: Task.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/ai/Task.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Task.cpp 16 Feb 2005 23:13:49 -0000 1.2
--- Task.cpp 24 Feb 2005 22:19:15 -0000 1.3
***************
*** 38,41 ****
--- 38,45 ----
+ void Task::EndTask()
+ {
+ GetPlatformInterface().DeleteTask(taskName);
+ }
/**
***************
*** 52,55 ****
--- 56,64 ----
}
+ const std::string& Task::GetTaskName() const
+ {
+ return taskName;
+ }
+
bool Task::IsReadyForUpdate(double t) const
{
Index: Brain.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/ai/Brain.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Brain.cpp 20 Feb 2005 21:54:32 -0000 1.4
--- Brain.cpp 24 Feb 2005 22:19:15 -0000 1.5
***************
*** 28,31 ****
--- 28,32 ----
#include "ai/Brain.h"
#include "ai/Task.h"
+ #include "ai/Nav.h"
#include "ai/ScriptedTask.h"
#include "sim/tcPlatformObject.h"
***************
*** 47,50 ****
--- 48,71 ----
}
taskNameLookup["Test"] = TEST_TASK;
+ taskNameLookup["Nav"] = NAV_TASK;
+ }
+
+ /**
+ * @return pointer to Nav task or 0 if none exists
+ */
+ Nav* Brain::GetNavTask()
+ {
+ std::map<std::string, Task*>::iterator iter = taskMap.find("Nav");
+ if (iter != taskMap.end())
+ {
+ wxASSERT(iter->second);
+ return dynamic_cast<Nav*>(iter->second);
+ }
+ else
+ {
+ return 0;
+ }
+
+
}
***************
*** 101,104 ****
--- 122,135 ----
void Brain::AddTask(const std::string& taskName, double priority_)
{
+ // if task already exists, update priority
+ std::map<std::string, Task*>::iterator tm_iter = taskMap.find(taskName);
+ if (tm_iter != taskMap.end())
+ {
+ tm_iter->second->SetPriority(priority_);
+ fprintf(stderr, "Warning - Brain::AddTask - task already exists, "
+ "updating priority (%s)\n", priority_);
+ return;
+ }
+
// check taskNameMap for C++ task, otherwise assume python script task
std::map<std::string, int>::iterator iter = taskNameLookup.find(taskName);
***************
*** 112,120 ****
--- 143,191 ----
int taskCode = iter->second;
// add switch for C++ task addition
+ switch (taskCode)
+ {
+ case TEST_TASK:
+ fprintf(stdout, "Test task called with priority %.1f\n", priority_);
+ break;
+ case NAV_TASK:
+ taskMap[taskName] = new Nav(platform, &board,
+ nextId++, priority_, taskName);
+ break;
+ default:
+ fprintf(stderr, "Unrecognized C++ taskname (%s)\n", taskName.c_str());
+ break;
+ }
+
+ }
+ }
+
+ /**
+ * Removes tasks in removeList. This allows a task to safely delete itself.
+ */
+ void Brain::RemovePending()
+ {
+ while (!removeList.empty())
+ {
+ std::string taskName = removeList.front();
+ removeList.pop();
+
+ RemoveTaskNow(taskName);
}
+
}
+ /**
+ * Adds task to removeList for removal during next update.
+ */
void Brain::RemoveTask(const std::string& taskName)
{
+ removeList.push(taskName);
+ }
+
+ /**
+ * Immediately removes task
+ */
+ void Brain::RemoveTaskNow(const std::string& taskName)
+ {
std::map<std::string, Task*>::iterator iter = taskMap.find(taskName);
if (iter != taskMap.end())
***************
*** 138,141 ****
--- 209,214 ----
return;
}
+
+ RemovePending();
// iterate through task map and update tasks
Index: ScriptedTaskInterface.cpp
===================================================================
RCS file: /cvsroot/gcblue/gcb_wx/src/ai/ScriptedTaskInterface.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** ScriptedTaskInterface.cpp 16 Feb 2005 23:13:49 -0000 1.1
--- ScriptedTaskInterface.cpp 24 Feb 2005 22:19:15 -0000 1.2
***************
*** 52,55 ****
--- 52,56 ----
class_<ScriptedTaskInterface>("ScriptedTaskInterface")
+ .def("EndTask", &ScriptedTaskInterface::EndTask)
.def("GetBlackboardInterface", &ScriptedTaskInterface::GetBlackboardInterface)
.def("GetPlatformInterface", &ScriptedTaskInterface::GetPlatformInterface)
***************
*** 64,67 ****
--- 65,77 ----
}
+ /**
+ * Call to safely end (remove) this task
+ */
+ void ScriptedTaskInterface::EndTask()
+ {
+ wxASSERT(task);
+ task->EndTask();
+ }
+
BlackboardInterface ScriptedTaskInterface::GetBlackboardInterface()
{
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