Changeset 10719 for code/branches/AI_HS15/src/orxonox/controllers/WingmanController.cc

Timestamp:

Oct 29, 2015, 8:02:23 PM (10 years ago)

Author:

gania

Message:

All compiling, WingmanControllers actually find LeaderControllers and connect to them, SectionControllers find DivisionControllers and connect. TODO write tick functions, helper functions to CommonController

File:

• code/branches/AI_HS15/src/orxonox/controllers/WingmanController.cc (modified) (6 diffs)

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

@@ -41 +41 @@
 
     RegisterClass(WingmanController);
-    static const int RADIUS_TO_SEARCH_FOR_LEADER = 3000;
-
+    static const int RADIUS_TO_SEARCH_FOR_LEADER = 7000;
+    static const float ACTION_INTERVAL = 1.0f;
     WingmanController::WingmanController(Context* context) : CommonController(context)
     {
         RegisterObject(WingmanController);
-        //this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&WingmanController::action, this)));
+        this->actionTimer_.setTimer(ACTION_INTERVAL, true, createExecutor(createFunctor(&WingmanController::action, this)));
     }
 
@@ -68 +68 @@
         
         //go through all pawns
-        for (ObjectList<Pawn>::iterator it = ObjectList<Pawn>::begin(); it; ++it)
-        {
-
+        for (ObjectList<CommonController>::iterator it = ObjectList<CommonController>::begin(); it; ++it)
+        {
             //same team?
-            if (!(this->getControllableEntity()->getTeam() != static_cast<ControllableEntity*>(*it)->getTeam()))
+            if ((this->getControllableEntity()->getTeam() != (it)->getControllableEntity()->getTeam()))
                 continue;
-
-            //Does it have a Controller?
-            Controller* controller = 0;
-
-            if (it->getController())
-                controller = it->getController();
-            else if (it->getXMLController())
-                controller = it->getXMLController();
-
-            if (!controller)
+            //is equal to this?
+            if (it->getControllableEntity() == this->getControllableEntity())
                 continue;
 
-            //is equal to this?
-            if (orxonox_cast<ControllableEntity*>(*it) == this->getControllableEntity())
+
+
+            //nullptr?
+            if (!it || !it->isLeader())
                 continue;
 
-
-            CommonController* newLeader = orxonox_cast<CommonController*>(controller);
-
-            //nullptr?
-            if (!newLeader || !newLeader->isLeader())
-                continue;
-
-            float distance = (it->getPosition() - this->getControllableEntity()->getPosition()).length();
+            float distance = (it->getControllableEntity()->getPosition() - this->getControllableEntity()->getPosition()).length();
 
             // is pawn in range?
@@ -103 +89 @@
             {
 
-                if (newLeader->setWingman(this))
-                    return newLeader;
+                if (it->setWingman(this))
+                    return *it;
             }
         }
         return NULL;
-    }
-    bool WingmanController::isLeader()
-    {
-        return false;
     }
     void WingmanController::action()
@@ -120 +102 @@
             CommonController* newLeader = findNewLeader();
             myLeader_ = newLeader;
-            orxout(internal_error) << "new Leader set" << endl;
-        }
-    }
-
-    void WingmanController::tick(float dt)
-    {   
-        //-------------------------------------------------------
-            /*//collect data for AI behaviour
+           /* if (newLeader)
+                orxout(internal_error) << "new Leader set" << endl;
+            else
+                orxout(internal_error) << "null leader" << endl;
+*/
+        }
+        else
+        {
+            //orxout(internal_error) << "already have a Leader" << endl;
+
+        }
+    }
+ /*//collect data for AI behaviour
             Vector3* meanOfEnemiesPtr = new Vector3(0.0,0.0,0.0);
             Vector3* meanOfAlliesPtr  = new Vector3(0.0,0.0,0.0);
@@ -166 +153 @@
                 orxout(internal_error) << "mean of enemies_ is " << meanOfEnemies << ", with a size " << enemies_.size() << endl;
             }*/
-    /*
-        if (!this->isActive())
-            return;
-        //--------------------------Stay in formation--------------------------
-        if (bFollowLeader_)
-        {
-            this->keepSectionTick();*/
-            /*keepSectionTick(){
-                if (this->sectionLeader_ && this->sectionLeader_->getControllableEntity() && desiredRelativePosition_){
-                    Vector3 desiredAbsolutePosition = ((this->sectionLeader_->getControllableEntity()->getWorldPosition()) + 
-                        (this->sectionLeader_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_)));
-                    this->moveToPosition (desiredAbsolutePosition);
-                }
-            }
-            */
-          /*  
-            //--------------------------Attack same target as the Leader--------------------------
-
-            if (this->target_)
-            {
-                this->aimAtTarget();
-                this->doFire();
-            }
-        }*/
-         //orxout(internal_error) << "I am " << this << endl;
-
-       /* void FormationController::setDesiredPositionOfSlaves()
+
+      /*  void FormationController::setDesiredPositionOfSlaves()
     {
         if (this->state_ != MASTER)
@@ -218 +180 @@
        
     }*/
+    void WingmanController::tick(float dt)
+    {   
+        //-------------------------------------------------------
+           
+        /*
+        if (!this->isActive())
+            return;
+        //--------------------------Stay in formation--------------------------
+        if (bFollowLeader_)
+        {
+            this->keepSectionTick();
+            
+            keepSectionTick(){
+                if (this->sectionLeader_ && this->sectionLeader_->getControllableEntity() && desiredRelativePosition_){
+                    Vector3 desiredAbsolutePosition = ((this->sectionLeader_->getControllableEntity()->getWorldPosition()) + 
+                        (this->sectionLeader_->getControllableEntity()->getWorldOrientation()* (*desiredRelativePosition_)));
+                    this->moveToPosition (desiredAbsolutePosition);
+                }
+            }
+            
+            
+            //--------------------------Attack same target as the Leader--------------------------
+
+            if (this->target_)
+            {
+                this->aimAtTarget();
+                this->doFire();
+            }
+        }
+        */
+         //orxout(internal_error) << "I am " << this << endl;
+
         
         SUPER(WingmanController, tick, dt);
     }
+
+    void WingmanController::XMLPort(Element& xmlelement, XMLPort::Mode mode)
+    {
+        SUPER(WingmanController, XMLPort, xmlelement, mode);
+
+        //XMLPortParam(SectionController, "target_", setTarget, getTarget, xmlelement, mode).defaultValues(100.0f);
+    }
+
 //**********************************************NEW
     /*void WingmanController::defaultBehaviour(float maxrand)