[Gcblue-commits] gcb_wx/src/ai Brain.cpp,1.4,1.5 ScriptedTaskInterface.cpp,1.1,1.2 Task.cpp,1.2,1.3

[Dewitt C. <ddc...@us...>]

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()
  {