Changeset 8948 for code/branches/formation/src/orxonox/controllers/HumanController.cc

Timestamp:

Nov 23, 2011, 4:06:18 PM (12 years ago)

Author:

willis

Message:

debugging

File:

• code/branches/formation/src/orxonox/controllers/HumanController.cc (modified) (4 diffs)

code/branches/formation/src/orxonox/controllers/HumanController.cc

@@ -77 +77 @@
         this->boosting_ = false;
         this->boosting_ = false;
-
+        this->tempMaster=NULL;
         HumanController::localController_s = this;
         this->boostingTimeout_.setTimer(HumanController::BOOSTING_TIME, false, createExecutor(createFunctor(&HumanController::terminateBoosting, this)));
         this->boostingTimeout_.stopTimer();
-        this->state_=MASTER;
+        this->state_=FREE;
     }
 
     HumanController::~HumanController()
     {
+        if (HumanController::localController_s) 
+        {
+            HumanController::localController_s->removeFromFormation();
+        }
         HumanController::localController_s = 0;
-        if (this->state_==MASTER)
-            removeFromFormation();
     }
 
@@ -101 +103 @@
 
         // commandslaves when Master of a formation
-        if (this->state_==MASTER)
-        {
-            this->commandSlaves();
+        if (HumanController::localController_s && HumanController::localController_s->state_==MASTER)
+        {
+            HumanController::localController_s->commandSlaves();
         }
     }
@@ -274 +276 @@
     void HumanController::toggleFormationFlight()
     {
+        
         if (HumanController::localController_s)
         {
@@ -280 +283 @@
                 HumanController::localController_s->freeSlaves();
                 HumanController::localController_s->state_=FREE;
+                orxout(message) <<"FormationFlight disabled "<< endl;
             } else //SLAVE or FREE
             {
                 HumanController::localController_s->takeLeadOfFormation();
+                orxout(message) <<"FormationFlight enabled "<< endl;
             }
+            
         }