Changeset 8953 for code/branches/formation/src/orxonox/controllers/HumanController.cc

Timestamp:

Nov 30, 2011, 4:09:25 PM (12 years ago)

Author:

willis

Message:

added different Modes, debugging

File:

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

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

@@ -51 +51 @@
     SetConsoleCommand("HumanController", "rotateRoll",             &HumanController::rotateRoll    ).addShortcut().setAsInputCommand();
     SetConsoleCommand("HumanController", "toggleFormationFlight",  &HumanController::toggleFormationFlight).addShortcut().keybindMode(KeybindMode::OnPress);
+    SetConsoleCommand("HumanController", "FFChangeMode",  &HumanController::FFChangeMode).addShortcut().keybindMode(KeybindMode::OnPress);
     SetConsoleCommand("HumanController", __CC_fire_name,           &HumanController::fire          ).addShortcut().keybindMode(KeybindMode::OnHold);
     SetConsoleCommand("HumanController", "reload",                 &HumanController::reload        ).addShortcut();
@@ -105 +106 @@
         if (HumanController::localController_s && HumanController::localController_s->state_==MASTER)
         {
-            HumanController::localController_s->commandSlaves();
+            if (HumanController::localController_s->mode_!=ATTACK)
+                HumanController::localController_s->commandSlaves();
         }
     }
@@ -274 +276 @@
     }
 
+    /**
+    @brief
+       toggle the formation. Not usable, if formationflight is disabled generally (formationFlight_)
+    */
     void HumanController::toggleFormationFlight()
     {
-        
-        if (HumanController::localController_s)
-        {
+        if (HumanController::localController_s)
+        {
+            if (!HumanController::localController_s->formationFlight_)
+            {
+                return; //dont use when formationFlight is disabled
+            }
             if (HumanController::localController_s->state_==MASTER)
             {
-                HumanController::localController_s->freeSlaves();
-                HumanController::localController_s->state_=FREE;
+                HumanController::localController_s->loseMasterState();
                 orxout(message) <<"FormationFlight disabled "<< endl;
             } else //SLAVE or FREE
@@ -294 +302 @@
     }
 
+    /**
+    @brief
+       Switch through the different Modes of formationflight. You must be a master of a formation to use.
+    */
+    void HumanController::FFChangeMode()
+    {
+        if (HumanController::localController_s && HumanController::localController_s->state_==MASTER)
+        {
+            switch (HumanController::localController_s->getMode()) {
+              case NORMAL:
+                HumanController::localController_s->setMode(DEFEND);
+                orxout(message) <<"Mode: DEFEND "<< endl;
+                break;
+              case DEFEND:
+                HumanController::localController_s->setMode(ATTACK);
+                orxout(message) <<"Mode: ATTACK "<< endl;
+                break;
+              case ATTACK:
+                HumanController::localController_s->setMode(NORMAL);
+                orxout(message) <<"Mode: NORMAL "<< endl;
+                break;
+            }
+            changedMode();
+        }
+    }
+
+    void HumanController::changedMode()
+    {
+
+    }
+    
     void HumanController::addBots(unsigned int amount)
     {