Nueva versión del robot usando el sistema autónomo.

[z.facultad/75.68/celdas.git] / trunk / src / plugin.cpp

diff --git a/trunk/src/plugin.cpp b/trunk/src/plugin.cpp
index 383cffce07af78d65fed5af9904a9e47e0f71a61..a1098e6a1b021f22f50207feac33611af352c857 100644 (file)
--- a/trunk/src/plugin.cpp
+++ b/trunk/src/plugin.cpp
@@ -4,32 +4,47 @@
 \r
 /////////////////////////// CTeoria /////////////////////////\r
 \r
 \r
 /////////////////////////// CTeoria /////////////////////////\r
 \r

-double NoOp(CEntorno&) { return 0.0; } // FIXME (hack horrible porque no puedo usar ptr a fun)\r
-\r
-// pointer{Teoria} TeoriaNew(string, int, int, int)\r
+// pointer{Teoria} TeoriaNew(string, string, int, int)\r

 int SAbrTeoriaNew(brEval args[], brEval* result, void* data)\r
 {\r
        result->set(new CTeoria(\r
                BRSTRING(args),\r
 int SAbrTeoriaNew(brEval args[], brEval* result, void* data)\r
 {\r
        result->set(new CTeoria(\r
                BRSTRING(args),\r

-               NoOp, // FIXME (no hay puntero a funcion, poner BRINT(args+1))\r
+               BRSTRING(args+1),\r

                BRINT(args+2),\r
                BRINT(args+3)));\r
        return EC_OK;\r
 }\r
 \r
                BRINT(args+2),\r
                BRINT(args+3)));\r
        return EC_OK;\r
 }\r
 \r

-// void TeoriaAddDatoInicial(pointer{Teoria}, string, double)\r
-int SAbrTeoriaAddDatoInicial(brEval args[], brEval* result, void* data)\r
+// void TeoriaSetDatoInicial(pointer{Teoria}, string, float)\r
+int SAbrTeoriaSetDatoInicial(brEval args[], brEval* result, void* data)\r
+{\r
+       CTeoria* t = (CTeoria*) BRPOINTER(args);\r
+       t->datos_iniciales.set_val(BRSTRING(args+1), BRINT(args+2));\r
+       return EC_OK;\r
+}\r
+\r
+// void TeoriaSetDatoFinal(pointer{Teoria}, string, float)\r
+int SAbrTeoriaSetDatoFinal(brEval args[], brEval* result, void* data)\r

 {\r
        CTeoria* t = (CTeoria*) BRPOINTER(args);\r
 {\r
        CTeoria* t = (CTeoria*) BRPOINTER(args);\r

-       t->datos_iniciales.add(BRSTRING(args+1), BRINT(args+2));\r
+       t->datos_finales.set_val(BRSTRING(args+1), BRINT(args+2));\r

        return EC_OK;\r
 }\r
 \r
        return EC_OK;\r
 }\r
 \r

-// void TeoriaAddDatoFinal(pointer{Teoria}, string, double)\r
-int SAbrTeoriaAddDatoFinal(brEval args[], brEval* result, void* data)\r
+// string TeoriaGetNombre(pointer{Teoria})\r
+int SAbrTeoriaGetNombre(brEval args[], brEval* result, void* data)\r

 {\r
        CTeoria* t = (CTeoria*) BRPOINTER(args);\r
 {\r
        CTeoria* t = (CTeoria*) BRPOINTER(args);\r

-       t->datos_finales.add(BRSTRING(args+1), BRINT(args+2));\r
+       result->set(t->nombre.c_str());\r
+       return EC_OK;\r
+}\r
+\r
+// string TeoriaGetAccion(pointer{Teoria})\r
+int SAbrTeoriaGetAccion(brEval args[], brEval* result, void* data)\r
+{\r
+       // TODO CTeoria* t = (CTeoria*) BRPOINTER(args);\r
+       // TODO result->set(t->accion.c_str());\r
+       result->set("avanzar"); // FIXME\r

        return EC_OK;\r
 }\r
 \r
        return EC_OK;\r
 }\r
 \r


@@ -59,6 +74,54 @@ int SAbrSistemaAutonomoAddTeoria(brEval args[], brEval* result, void* data)
        return EC_OK;\r
 }\r
 \r
        return EC_OK;\r
 }\r
 \r

+// void SistemaAutonomoSetValue(pointer{SistemaAutonomo}, string, float)\r
+int SAbrSistemaAutonomoSetValue(brEval args[], brEval* result, void* data)\r
+{\r
+       CSistemaAutonomo* sa = (CSistemaAutonomo*) BRPOINTER(args);\r
+       sa->p_entorno->datos.set_val(BRSTRING(args+1), BRDOUBLE(args+2));\r
+       return EC_OK;\r
+}\r
+\r
+// void SistemaAutonomoSetDatoFinal(pointer{SistemaAutonomo}, string, float)\r
+int SAbrSistemaAutonomoSetDatoFinal(brEval args[], brEval* result, void* data)\r
+{\r
+       CSistemaAutonomo* sa = (CSistemaAutonomo*) BRPOINTER(args);\r
+       sa->m_datos_finales.set_val(BRSTRING(args+1), BRDOUBLE(args+2));\r
+       return EC_OK;\r
+}\r
+\r
+// void SistemaAutonomoPlan(pointer{SistemaAutonomo})\r
+int SAbrSistemaAutonomoPlan(brEval args[], brEval* result, void* data)\r
+{\r
+       CSistemaAutonomo* sa = (CSistemaAutonomo*) BRPOINTER(args);\r
+       sa->plan();\r
+       return EC_OK;\r
+}\r
+\r
+// bool SistemaAutonomoHasNextTheory(pointer{SistemaAutonomo})\r
+int SAbrSistemaAutonomoHasNextTheory(brEval args[], brEval* result, void* data)\r
+{\r
+       CSistemaAutonomo* sa = (CSistemaAutonomo*) BRPOINTER(args);\r
+       result->set(sa->has_next_theory());\r
+       return EC_OK;\r
+}\r
+\r
+// pointer{Teoria} SistemaAutonomoGetNextTheory(pointer{SistemaAutonomo})\r
+int SAbrSistemaAutonomoGetNextTheory(brEval args[], brEval* result, void* data)\r
+{\r
+       CSistemaAutonomo* sa = (CSistemaAutonomo*) BRPOINTER(args);\r
+       result->set(sa->get_next_theory());\r
+       return EC_OK;\r
+}\r
+\r
+// bool SistemaAutonomoValidateTheory(pointer{SistemaAutonomo}, pointer{Teoria})\r
+int SAbrSistemaAutonomoValidateTheory(brEval args[], brEval* result, void* data)\r
+{\r
+       CSistemaAutonomo* sa = (CSistemaAutonomo*) BRPOINTER(args);\r
+       result->set(sa->validate_theory((CTeoria*) BRPOINTER(args+1)));\r
+       return EC_OK;\r
+}\r
+\r

 // void SistemaAutonomoDelete(pointer{SistemaAutonomo})\r
 int SAbrSistemaAutonomoDelete(brEval args[], brEval* result, void* data)\r
 {\r
 // void SistemaAutonomoDelete(pointer{SistemaAutonomo})\r
 int SAbrSistemaAutonomoDelete(brEval args[], brEval* result, void* data)\r
 {\r


@@ -70,17 +133,33 @@ int SAbrSistemaAutonomoDelete(brEval args[], brEval* result, void* data)
 DLLEXPORT void SAbrFunctions(void *data)\r
 {\r
        brNewBreveCall(data, "TeoriaNew", SAbrTeoriaNew,\r
 DLLEXPORT void SAbrFunctions(void *data)\r
 {\r
        brNewBreveCall(data, "TeoriaNew", SAbrTeoriaNew,\r

-                      AT_POINTER, AT_STRING, AT_INT, AT_INT, AT_INT, 0);\r
-       brNewBreveCall(data, "TeoriaAddDatoInicial", SAbrTeoriaAddDatoInicial,\r
+                      AT_POINTER, AT_STRING, AT_STRING, AT_INT, AT_INT, 0);\r
+       brNewBreveCall(data, "TeoriaSetDatoInicial", SAbrTeoriaSetDatoInicial,\r

                       AT_NULL, AT_POINTER, AT_STRING, AT_DOUBLE, 0);\r
                       AT_NULL, AT_POINTER, AT_STRING, AT_DOUBLE, 0);\r

-       brNewBreveCall(data, "TeoriaAddDatoFinal", SAbrTeoriaAddDatoFinal,\r
+       brNewBreveCall(data, "TeoriaSetDatoFinal", SAbrTeoriaSetDatoFinal,\r

                       AT_NULL, AT_POINTER, AT_STRING, AT_DOUBLE, 0);\r
                       AT_NULL, AT_POINTER, AT_STRING, AT_DOUBLE, 0);\r

+       brNewBreveCall(data, "TeoriaGetNombre", SAbrTeoriaGetNombre,\r
+                      AT_STRING, AT_POINTER, 0);\r
+       brNewBreveCall(data, "TeoriaGetAccion", SAbrTeoriaGetAccion,\r
+                      AT_STRING, AT_POINTER, 0);\r

        brNewBreveCall(data, "TeoriaDelete", SAbrTeoriaDelete,\r
                       AT_NULL, AT_POINTER, 0);\r
        brNewBreveCall(data, "SistemaAutonomoNew", SAbrSistemaAutonomoNew,\r
                       AT_POINTER, 0);\r
        brNewBreveCall(data, "SistemaAutonomoAddTeoria", SAbrSistemaAutonomoAddTeoria,\r
                       AT_NULL, AT_POINTER, AT_POINTER, 0);\r
        brNewBreveCall(data, "TeoriaDelete", SAbrTeoriaDelete,\r
                       AT_NULL, AT_POINTER, 0);\r
        brNewBreveCall(data, "SistemaAutonomoNew", SAbrSistemaAutonomoNew,\r
                       AT_POINTER, 0);\r
        brNewBreveCall(data, "SistemaAutonomoAddTeoria", SAbrSistemaAutonomoAddTeoria,\r
                       AT_NULL, AT_POINTER, AT_POINTER, 0);\r

+       brNewBreveCall(data, "SistemaAutonomoSetValue", SAbrSistemaAutonomoSetValue,\r
+                      AT_NULL, AT_POINTER, AT_STRING, AT_DOUBLE, 0);\r
+       brNewBreveCall(data, "SistemaAutonomoSetDatoFinal", SAbrSistemaAutonomoSetDatoFinal,\r
+                      AT_NULL, AT_POINTER, AT_STRING, AT_DOUBLE, 0);\r
+       brNewBreveCall(data, "SistemaAutonomoPlan", SAbrSistemaAutonomoPlan,\r
+                      AT_NULL, AT_POINTER, 0);\r
+       brNewBreveCall(data, "SistemaAutonomoHasNextTheory", SAbrSistemaAutonomoHasNextTheory,\r
+                      AT_INT, AT_POINTER, 0);\r
+       brNewBreveCall(data, "SistemaAutonomoGetNextTheory", SAbrSistemaAutonomoGetNextTheory,\r
+                      AT_POINTER, AT_POINTER, 0);\r
+       brNewBreveCall(data, "SistemaAutonomoValidateTheory", SAbrSistemaAutonomoValidateTheory,\r
+                      AT_INT, AT_POINTER, AT_POINTER, 0);\r

        brNewBreveCall(data, "SistemaAutonomoDelete", SAbrSistemaAutonomoDelete,\r
                       AT_NULL, AT_POINTER, 0);\r
 }\r
        brNewBreveCall(data, "SistemaAutonomoDelete", SAbrSistemaAutonomoDelete,\r
                       AT_NULL, AT_POINTER, 0);\r
 }\r