Changeset 9625 for code/trunk/src/orxonox/controllers/FormationController.cc

Timestamp:

May 21, 2013, 3:12:21 PM (11 years ago)

Author:

smerkli

Message:

Merged Maxim's Branch back into trunk.

Location:

code/trunk

Files:

• . (modified) (1 prop)
• src/orxonox/controllers/FormationController.cc (modified) (1 diff)

code/trunk/src/orxonox/controllers/FormationController.cc

@@ -535 +535 @@
 
 
+    // Sets newMaster as the new master within the formation. Called by the master.
+    void FormationController::setNewMasterWithinFormation(FormationController* newMaster)
+        {
+            if(this->state_ != MASTER || newMaster->myMaster_ != this) return;
+
+            if (!this->slaves_.empty())
+            {
+                                std::vector<FormationController*>::iterator it2 = std::find(this->slaves_.begin(), this->slaves_.end(), newMaster);
+                                if (it2 != this->slaves_.end())
+                                {
+                                         this->slaves_.erase(it2);
+                                }
+
+                newMaster->state_ = MASTER;
+                newMaster->slaves_ = this->slaves_;
+                newMaster->myMaster_ = 0;
+
+                for(std::vector<FormationController*>::iterator it = newMaster->slaves_.begin(); it != newMaster->slaves_.end(); it++)
+                {
+                    (*it)->myMaster_ = newMaster;
+                }
+            }
+
+            this->slaves_.clear();
+            this->specificMasterAction_ = NONE;
+            this->state_ = FREE;
+        }
+
+
+
   /**
-        @brief Frees all slaves form a master. Initiated by a master.
+        @brief Frees all slaves from a master. Initiated by a master.
     */
     void FormationController::freeSlaves()