C++ (Cpp) Strategy::getUtility примеры использования

Пример #1

Файл: program.cpp Проект: ondrejpialek/IAR

int main(int argc, char *argv[])
{        
    Sensing* sensing = new Sensing();    
    Control* control = new Control();
    ServoControl* servo = new ServoControl();
    servo->setEventHandler(sensing);
    
    Strategy* strategies [] = { 
        new FindSiteStrategy(sensing, control, servo), new HitButtonStrategy(sensing, control, servo),
        new HalfHZDanceStrategy(sensing, control, servo), new OneHZDanceStrategy(sensing, control, servo),
        new TwoHZDanceStrategy(sensing, control, servo), new FourHZDanceStrategy(sensing, control, servo),
        new SixHZDanceStrategy(sensing, control, servo), new EightHZDanceStrategy(sensing, control, servo)
    };
    int STRATEGIES_COUNT = 8;
 
    servo->setPosition(90);
    printf("READY!\n");

    
    int pwr = power_button_get_value();
    while(pwr == power_button_get_value()) {
        msleep(400);
    }
    
    timespec current;
    timespec old;
    clock_gettime(CLOCK_MONOTONIC, &current);
    
    pwr = power_button_get_value();
    Strategy* oldStrategy = 0;
    while (pwr == power_button_get_value()) {
        printf("-------------------------------\n");
        
        double bestUtility = -1;
        int strategyIndex = 0;
        Strategy* strategy = 0;
        for (int i = 0; i < STRATEGIES_COUNT; i++) {
            Strategy* s = strategies[i];
            double util = s->getUtility();
            if (util > bestUtility) {
                strategy = s;
                bestUtility = util;
                strategyIndex = i;
            }
        }

//printf("B: %d\n", sensing->getBottomDistance());

//printf("T: %d\n", sensing->getTopDistance());

        old = current;
        clock_gettime(CLOCK_MONOTONIC, &current);  
        double diff = (current.tv_sec - old.tv_sec) + ((current.tv_nsec - old.tv_nsec) / NANOSECONDS_PER_SECOND);
        
        printf("T: %f, S: %d\n", diff, strategyIndex);
	
        control->controlTick(diff);
        strategy->step(diff, strategy != oldStrategy);
        oldStrategy = strategy; 
	
	
        //double f = sensing->getFrequency();
        printf("DISTANCES: top %d, bottom %d, sonar %d\n", sensing->getTopDistance(), sensing->getBottomDistance(), sensing->getSonarDistance(0));
        
        msleep(90);
    }
    
    control->stop();
    msleep(100);
    
    for (int i = 0; i < STRATEGIES_COUNT; i++) {
        delete strategies[i];
    }
    
    servo->setEventHandler(NULL);
    delete servo;
    delete control;
    delete sensing;
    
    power_button_reset();
    
    return 0;
}