Changeset 10731 for code/branches/AI_HS15/src/orxonox/controllers/SectionController.cc

Timestamp:

Oct 31, 2015, 4:07:29 PM (9 years ago)

Author:

gania

Message:

added a little bit of firing functionality

File:

• code/branches/AI_HS15/src/orxonox/controllers/SectionController.cc (modified) (5 diffs)

code/branches/AI_HS15/src/orxonox/controllers/SectionController.cc

@@ -39 +39 @@
         this->setFormationMode(WALL);
 
-        bIsDivisionLeader_ = false;
         this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&SectionController::action, this)));
         this->myWingman_ = 0;
         this->myDivisionLeader_ = 0;
+        this->rank_ = SECTIONLEADER;
 
         orxout(internal_error) << this << "Was created" << endl;
@@ -52 +52 @@
        
     }
+
+    void SectionController::tick(float dt)
+    {
+        if (!this->isActive())
+            return;
+        
+        if (this->bHasTargetPosition_)
+        {
+            this->moveToTargetPosition();
+        }
+
+        
+        SUPER(SectionController, tick, dt);
+    }
+
+    void SectionController::action()
+    {
+        //this->target_ = this->sectionTarget_;        
+        if (!myDivisionLeader_)
+        {
+            LeaderController* newDivisionLeader = findNewDivisionLeader();
+            this->myDivisionLeader_ = newDivisionLeader;
+            if (newDivisionLeader)
+                orxout(internal_error) << "new DivisionLeader set" << endl;
+
+        }
+        setTargetPositionOfWingman();
+
+    }
+    
     void SectionController::setTargetPositionOfWingman()
     {
@@ -85 +115 @@
        
     }
-
     LeaderController* SectionController::findNewDivisionLeader()
     {
@@ -98 +127 @@
         {
             //0ptr or not DivisionController?
-            if (!(it) || !(it)->bIsDivisionLeader_ || !(it->getControllableEntity()))
+            if (!(it) || !((it)->getRank() == DIVISIONLEADER) || !(it->getControllableEntity()))
                 continue;
             //same team?
@@ -126 +155 @@
 
     }
+    bool SectionController::setWingman(CommonController* cwingman)
+    {
+        WeakPtr<WingmanController> wingman = orxonox_cast<WingmanController*>(cwingman);
 
-    void SectionController::action()
-    {
-        //this->target_ = this->sectionTarget_;        
-        if (!myDivisionLeader_)
+        if (!this->myWingman_)
         {
-            LeaderController* newDivisionLeader = findNewDivisionLeader();
-            this->myDivisionLeader_ = newDivisionLeader;
-            if (newDivisionLeader)
-                orxout(internal_error) << "new DivisionLeader set" << endl;
-
+            this->myWingman_ = wingman;
+            return true;
         }
-        setTargetPositionOfWingman();
-
-    }
-    /*
-    Wingmen and Leaders attack target_, which is a member variable of their classes.
-    Wingmen's target_ is set to sectionTarget_, which is a member variable of SectionController class, unless
-    Wingman covers Leader's rear.
-    Leader's target_ must always equal sectionTarget_.
-    if section has a target, its Leader shoots at it, but doesn't follow.
-    Every section is a part of division. Division consisting of one Section is still a division.
-    Division's leader's target_ must always equal divisionTarget_, which is a member variable of DivisionController.
-    Division leader ONLY can follow target_ while in formation flight.
-    If Division doesn't have a target, Division Leader stays in place, unless it has a waypoint.
-    Division Leader's sectionTarget_ must equal divisionTarget_,
-    but the other section, that is not a leading section, can attack any target that is near divisonTarget_
-
-    */
-    
-    void SectionController::tick(float dt)
-    {
-        if (!this->isActive())
-            return;
-        
-        if (this->bHasTargetPosition_)
+        else
         {
-            this->moveToTargetPosition();
+            return false;
         }
-
-        
-        SUPER(SectionController, tick, dt);
     }
     
+    bool SectionController::hasWingman()
+    {
+        if (this->myWingman_)
+            return true;
+        else
+            return false;
+    }
 
     void SectionController::XMLPort(Element& xmlelement, XMLPort::Mode mode)