68 lines
2.7 KiB
Plaintext
68 lines
2.7 KiB
Plaintext
In this file, I will explain how modules are initialized.
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In particular, I will explain how robots can be initialized.
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Most modules can only have one instance. For example, for a track
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it is not neccesairy to open two tracks at once. For robots, this
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is different. It is good to load more instances of one robot, and
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the module init system is build for that. There are three ways a
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robot can be initialized. I will explain all of those three.
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It always is a good idea to look to an existing robot to see how
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things work.
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Legacy method (up to 10 robots)
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===============================
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The old method can create up to 10 instances of a robot. Suppose we
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have a robot with module name "foo". Then we make a C-function as
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follows:
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extern "C" int foo( tModInfo* modinfo );
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tModInfo is a pointer to an array of length 10 with elements of type
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tModInfo. In this function, you need to initialize all the members
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of that struct. The function must return 0 on success. After this,
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the module is initialized.
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Finitely many robots
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====================
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This method removes the 10 robot limit. Therefor three functions must
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exists:
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A: extern "C" int moduleWelcome( const tModWelcomeIn* welcomeIn,
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tModWelcomeOut* welcomeOut );
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B: extern "C" int moduleInitialize( tModInfo *modinfo );
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C: extern "C" int moduleTerminate();
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When the module is created, function A is called. welcomeIn will
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contain all the information that is available at this stage.
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With that information, the function must fill all the members
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of welcomeOut. welcomeOut has a member for the amount of robots.
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We call this number n in the remaining of this section. So after
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this, the number of robots is fixed.
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After function A is called, function B is called. Function B works
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exactly the same as in the Legacy method, besides that modinfo now
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is a pointer to an array of n elements.
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Function C is called when the module is unloaded.
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All the functions must return 0 on success.
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Countably many robots
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=====================
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The case of countable many robots works incombination of one of two
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methods above. In the legacy method, modinfo is given in the only
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that is called during initialization. In the finitely many robots
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case, function B will give the modinfo.
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In this method, the array modinfo points to is exactly one element
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bigger than you expect it after the description of the methods above.
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The extra element must also be filled. When returning, this element
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must contain information for all the robots that don't have a preset
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index. The index will be the index given in this element or higher:
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every new robot gets a higher index.
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There exists a function in robottools to find out which car a robot
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with a specific index is driving.
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