Robobot new behaviour plan

Revision as of 14:28, 1 January 2024

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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 class name

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 changes to look like:

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 old file looks like:

#include "bplan20.h"
BPlan20 plan20;

void BPlan20::setup()
{ // ensure there is default values in ini-file
  if (not ini["plan20"].has("log"))
  { // no data yet, so generate some default values
    ini["plan20"]["log"] = "true";
    ini["plan20"]["run"] = "false";

Add to CMakeLists.txt

Add the new cpp file to the CMakeLists.txt to the list of files, like

$ nano ../CMakeLists.txt
...
add_executable(raubase
     src/bplan20.cpp
     src/bplan21.cpp
     src/bplan40.cpp
     src/bplan100.cpp
     src/cedge.cpp
     src/cheading.cpp
...

(hertil)