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names of variables changed #11

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6 changes: 3 additions & 3 deletions 2016-CaroloCup/driver/include/DriverManager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ namespace msv {
Lane_Following = 0,
Parking = 1,
Overtaking = 2,
None = 99
Neutral = 99
};


Expand All @@ -38,8 +38,8 @@ namespace msv {
private:
int32_t argc;
char **argv;
DRIVER_STATE state;
DriverGeneric *driver_ptr;
DRIVER_STATE driver_state;
DriverGeneric *driverGeneric;
bool debug;

DriverManager(const DriverManager &/*obj*/);
Expand Down
3 changes: 1 addition & 2 deletions 2016-CaroloCup/driver/include/ParkingDriver.h
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Expand Up @@ -6,7 +6,6 @@
#define AUTOMOTIVE_CAROLOCUP_PARKINGDRIVER_H

#include <DriverGeneric.h>

namespace msv {

using namespace std;
Expand Down Expand Up @@ -52,7 +51,7 @@ namespace msv {

DRIVING_STATE driving_state;
PARKING_STATE parking_state;
LaneFollowingDriver *laneDriver;
LaneFollowingDriver *laneFollowingDriver;

void setUp() { };

Expand Down
28 changes: 14 additions & 14 deletions 2016-CaroloCup/driver/src/DriverGeneric.cpp
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Expand Up @@ -59,26 +59,26 @@ namespace msv {

VehicleControl DriverGeneric::GetControlData() {
// Create vehicle control data.
VehicleControl vc;
VehicleControl vehicleControl;

// With setSpeed you can set a desired speed for the vehicle in the range of -2.0 (backwards) .. 0 (stop) .. +2.0 (forwards)
vc.setSpeed(desiredSpeed);
vc.setSteeringWheelAngle(desiredSteering);
vehicleControl.setSpeed(desiredSpeed);
vehicleControl.setSteeringWheelAngle(desiredSteering);
// You can also turn on or off various lights:
vc.setBrakeLights(brakeLights);
vc.setFlashingLightsLeft(flashingLightsLeft);
vc.setFlashingLightsRight(flashingLightsRight);
vehicleControl.setBrakeLights(brakeLights);
vehicleControl.setFlashingLightsLeft(flashingLightsLeft);
vehicleControl.setFlashingLightsRight(flashingLightsRight);

return vc;
return vehicleControl;
}

VehicleControl DriverGeneric::GetStopControlData() {
VehicleControl vc;
vc.setSpeed(0);
vc.setSteeringWheelAngle(0);
vc.setBrakeLights(false);
vc.setFlashingLightsLeft(false);
vc.setFlashingLightsRight(false);
return vc;
VehicleControl vehicleControl;
vehicleControl.setSpeed(0);
vehicleControl.setSteeringWheelAngle(0);
vehicleControl.setBrakeLights(false);
vehicleControl.setFlashingLightsLeft(false);
vehicleControl.setFlashingLightsRight(false);
return vehicleControl;
}
} // msv
82 changes: 41 additions & 41 deletions 2016-CaroloCup/driver/src/DriverManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@ namespace msv {
: TimeTriggeredConferenceClientModule(argci, argvi, "DriverManager"),
argc(argci),
argv(argvi),
state(None),
driver_ptr(0),
driver_state(Neutral),
driverGeneric(0),
debug(false) {
// Deep copy of arguments
argv = new char *[argci + 1];
Expand All @@ -38,7 +38,7 @@ namespace msv {
// stop car when killing driver
stopCar();

delete (driver_ptr);
delete (driverGeneric);

@chrberger chrberger Oct 13, 2016

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Instead of actively deleting a pointer, you should use unique_ptr or shared_ptr to let C++ do that for you.


for (int i = 0; i < argc; i++) {
delete[] argv[i];
Expand All @@ -52,11 +52,11 @@ namespace msv {
// This method will do the main data processing job.
odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode DriverManager::body() {

Container proxyData;
SensorBoardData sbd;
bool button1; // lane following
bool button2; // parking
bool button3; // overtaking
Container proxyDataContainer;
SensorBoardData sensorBoardData;
bool laneFollowingButton; // lane following
bool parkingButton; // parking
bool overtakingButton; // overtaking

KeyValueConfiguration config = getKeyValueConfiguration();
debug = config.getValue<bool>("driverManager.Debug");
Expand All @@ -70,85 +70,85 @@ namespace msv {
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == odcore::data::dmcp::ModuleStateMessage::RUNNING) {

// Get latest proxy data
proxyData = lifo.pop();
sbd = proxyData.getData<SensorBoardData>();
proxyDataContainer = lifo.pop();
sensorBoardData = proxyDataContainer.getData<SensorBoardData>();

// Get buttons data from proxy
button1 = (bool) (int) sbd.getValueForKey_MapOfDistances(9);
button2 = (bool) (int) sbd.getValueForKey_MapOfDistances(10);
button3 = (bool) (int) sbd.getValueForKey_MapOfDistances(11);
laneFollowingButton = (bool) (int) sensorBoardData.getValueForKey_MapOfDistances(9);
parkingButton = (bool) (int) sensorBoardData.getValueForKey_MapOfDistances(10);
overtakingButton = (bool) (int) sensorBoardData.getValueForKey_MapOfDistances(11);

// clear lifo to avoid filling memory
lifo.clear();

if (debug) {
cout << "Button1:" << button1 << ", Button2:" << button2 << ", Button3:" << button3 << flush;
cout << ", state:" << state << endl;
cout << "LaneFollowingButton:" << laneFollowingButton << ", ParkingButton:" << parkingButton << ", Overtaking button:" << overtakingButton << flush;
cout << ", driver state:" << driver_state << endl;
}

// Check if current buttons correspond to current state and driver
if (button1 && !button2 && !button3) {
if (state != Lane_Following) {
if (laneFollowingButton && !parkingButton && !overtakingButton) {
if (driver_state != Lane_Following) {
if (debug)
cout << "Creating Lane Following driver" << endl;
driver_ptr = new LaneFollowingDriver(argc, argv);
if (!driver_ptr) {
driverGeneric = new LaneFollowingDriver(argc, argv);

@chrberger chrberger Oct 13, 2016

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Here, we shouldn't use pointers but wrap them into unique_ptr or shared_ptr.

if (!driverGeneric) {
if (debug)
cout << "Memory error" << endl;
continue; // TODO Improve error management
}
driver_ptr->runModule(); // Necessary to run it once to initialize the module entirely
state = Lane_Following;
driverGeneric->runModule(); // Necessary to run it once to initialize the module entirely
driver_state = Lane_Following;
}
}
else if (!button1 && button2 && !button3) {
if (state != Parking) {
else if (!laneFollowingButton && parkingButton && !overtakingButton) {
if (driver_state != Parking) {
if (debug)
cout << "Creating Parking driver" << endl;
driver_ptr = new ParkingDriver(argc, argv);
if (!driver_ptr) {
driverGeneric = new ParkingDriver(argc, argv);

@chrberger chrberger Oct 13, 2016

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Here, we shouldn't use pointers but wrap them into unique_ptr or shared_ptr.

if (!driverGeneric) {
if (debug)
cout << "Memory error" << endl;
continue; // TODO Improve error management
}
driver_ptr->runModule(); // Necessary to run it once to initialize the module entirely
state = Parking;
driverGeneric->runModule(); // Necessary to run it once to initialize the module entirely
driver_state = Parking;
}
}
else if (!button1 && !button2 && button3) {
if (state != Overtaking) {
//driver_ptr = new OvertakingDriver(argc, argv);
if (!driver_ptr) {
else if (!laneFollowingButton && !parkingButton && overtakingButton) {
if (driver_state != Overtaking) {
//driverGeneric = new OvertakingDriver(argc, argv);

@chrberger chrberger Oct 13, 2016

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Here, we shouldn't use pointers but wrap them into unique_ptr or shared_ptr.

if (!driverGeneric) {
if (debug)
cout << "Memory error" << endl;
continue; // TODO Improve error management
}
driver_ptr->runModule(); // Necessary to run it once to initialize the module entirely
state = Overtaking;
driverGeneric->runModule(); // Necessary to run it once to initialize the module entirely
driver_state = Overtaking;
}
}
else {
driver_ptr = 0;
state = None;
driverGeneric = 0;
driver_state = Neutral;
stopCar();
}

// Call driver's body and send resulting vehicle control
if (driver_ptr != 0) {
driver_ptr->body();
if (driverGeneric != 0) {
driverGeneric->body();
// Create container for finally sending the data.
Container c(driver_ptr->GetControlData());
Container container(driverGeneric->GetControlData());
// Send container.
getConference().send(c);
getConference().send(container);
}
}

return odcore::data::dmcp::ModuleExitCodeMessage::OKAY;
}

void DriverManager::stopCar() {
Container c(DriverGeneric::GetStopControlData());
getConference().send(c);
Container container(DriverGeneric::GetStopControlData());
getConference().send(container);
}

} // msv
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