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== 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 ====

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 changed to look like this:
 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 look like this:

 ...
 #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)
    { // next challenge
      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 ====

Then just compile and test.

 $ cd ~/svn/robobot/raubase/build
 $ make
 [  3%] Building CXX object CMakeFiles/raubase.dir/src/bplan100.cpp.o
 [  7%] Building CXX object CMakeFiles/raubase.dir/src/main.cpp.o
 [ 11%] Linking CXX executable raubase
 [100%] Built target raubase