/**
* moduleTerminate
*
* Module exit point
*
* @return 0
*/
extern "C" int
moduleTerminate()
{
robot.terminate();
return 0;
}//moduleTerminate
/**
*
* moduleWelcome
*
* First function of the module called at load time :
* - the caller gives the module some information about its run-time environment
* - the module gives the caller some information about what he needs
* MUST be called before moduleInitialize()
*
* @param welcomeIn Run-time info given by the module loader at load time
* @param welcomeOut Module run-time information returned to the called
* @return 0 if no error occured, not 0 otherwise
*/
extern "C" int
moduleWelcome(const tModWelcomeIn* welcomeIn, tModWelcomeOut* welcomeOut)
{
welcomeOut->maxNbItf = robot.count_drivers();
return 0;
}//moduleWelcome
/*
* Function
*
*
* Description
*
*
* Parameters
*
*
* Return
*
*
* Remarks
*
*/
static void
drive_at(int index, tCarElt* car, tSituation *s)
{
gps.update(car);
vec2 myPos = gps.getPosition();
printf("Players's position according to GPS is (%f, %f)\n", myPos.x, myPos.y);
robot.drive_at(index, car, s);
}//drive_at
/**
*
* InitFuncPt
*
* Robot functions initialisation.
*
* @param pt pointer on functions structure
* @return 0
*/
static int
InitFuncPt(int index, void *pt)
{
tRobotItf *itf = (tRobotItf *)pt;
robot.init_context(index);
itf->rbNewTrack = initTrack; /* give the robot the track view called */
/* for every track change or new race */
itf->rbNewRace = newrace;
itf->rbResumeRace = resumerace;
/* drive during race */
itf->rbDrive = robot.uses_at(index) ? drive_at : drive_mt;
itf->rbShutdown = shutdown;
itf->rbPitCmd = pitcmd;
itf->index = index;
return 0;
}//InitFuncPt
static void
shutdown(const int index)
{
robot.shutdown(index);
}//shutdown
static int
pitcmd(int index, tCarElt* car, tSituation *s)
{
return robot.pit_cmd(index, car, s);
}//pitcmd
/*
* Function
*
*
* Description
*
*
* Parameters
*
*
* Return
*
*
* Remarks
*
*/
static void
drive_at(int index, tCarElt* car, tSituation *s)
{
robot.drive_at(index, car, s);
}//drive_at
void
resumerace(int index, tCarElt* car, tSituation *s)
{
robot.resume_race(index, car, s);
}
/**
*
* newrace
*
* @param index
* @param car
* @param s situation provided by the sim
*
*/
void
newrace(int index, tCarElt* car, tSituation *s)
{
robot.new_race(index, car, s);
}//newrace
/**
* initTrack
*
* Search under robots/human/cars/<carname>/<trackname>.xml
*
* @param index
* @param track
* @param carHandle
* @param carParmHandle
* @param s situation provided by the sim
*
*/
static void
initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *s)
{
robot.init_track(index, track, carHandle, carParmHandle, s);
}//initTrack
/**
*
* moduleInitialize
*
* Module entry point
*
* @param modInfo administrative info on module
* @return 0 if no error occured, -1 if any error occured
*/
extern "C" int
moduleInitialize(tModInfo *modInfo)
{
return robot.initialize(modInfo, InitFuncPt);
}//moduleInitialize
