/ - Diff - AMiRo-OS - Research for Cognitive Interaction

     uint8_t AmiroMap::getNearest(types::position *p1) {
       uint8_t actualStrategy = this->lfStrategy == EDGE_LEFT ? 1 : 2;
       uint32_t thresh = 1;          // TODO: find good thresh value in cm
       uint32_t thresh = global->nodeDistThresh;          // TODO: find good thresh value in cm
       uint8_t id = 255;
       uint32_t smallestDist = thresh;
       uint8_t currentStrategy;
-...
       nodeList[id].visited |= state.strategy;
       return id;
+    }
     void AmiroMap::reset(){
       this->nodeCount = 0;
       this->state.current = 0;
       this->state.next= 0;
+    }

         } p;
       };
       struct map_state {
         // 0 - left, 1- right
         uint8_t strategy;
         // Node ID of last detected fixpoint
         uint8_t current;
         // Next node ID
         uint8_t next;
         //Traveled Distance between current and next in %
         uint32_t dist;
         // True if the current loaded map is valid
         bool valid;
         // Length of the currently traveled edge
         uint32_t eLength;
       };
     class AmiroMap {
     public:
-...
       // Either create new fxpoint or assign point to existing one
       uint8_t assignFxp(types::position *p1);
       void reset();
     };
     }; // namespace amiro

     #ifndef AMIRO_GLOBAL_HPP_
     #define AMIRO_GLOBAL_HPP_
     #include <cstdint>
     #include <hal.h>
     #include <qei.h>
-...
       // Global test map
       uint8_t testmap[MAX_NODES][NODE_ATTRIBUTES];
       uint8_t tcase = 0;
       // -----------------------------
     public:
       Global() :
         HW_I2C1(&I2CD1), HW_I2C2(&I2CD2),
         HW_PCA9544(&HW_I2C2, 0x07u),
         V_I2C2{{VI2CDriver(&HW_PCA9544, 0),
                 VI2CDriver(&HW_PCA9544, 1),
                 VI2CDriver(&HW_PCA9544, 2),
                 VI2CDriver(&HW_PCA9544, 3)}
               },
         vcnl4020{{/* front left  */ VCNL4020(&V_I2C2[0], &vcnl4020_config),
                   /* left wheel  */ VCNL4020(&V_I2C2[1], &vcnl4020_config),
                   /* right wheel */ VCNL4020(&V_I2C2[2], &vcnl4020_config),
                   /* front right */ VCNL4020(&V_I2C2[3], &vcnl4020_config)}
                 },
         hmc5883l(&HW_I2C1, &hmc5883l_config),
         HW_SPI1_ACCEL(&SPID1, &accel_spi1_config), HW_SPI1_GYRO(&SPID1, &gyro_spi1_config),
         lis331dlh(&HW_SPI1_ACCEL),
         l3g4200d(&HW_SPI1_GYRO),
         ina219(HW_I2C2, 0x40u),
         ltc4412(),
         at24c01(0x400u / 0x08u, 0x08u, 500u, &HW_I2C2),
         memory(at24c01, /*BMSV*/ 1, /*bmsv*/ 3, /*HMV*/ 1, /*hmv*/ 0), // bmsv changed von 2 auf 3
         increments(&QEID3, &QEID4),
         motorcontrol(&PWMD2, &increments, GPIOB, GPIOB_POWER_EN, &memory),
         distcontrol(&motorcontrol, &increments),
         odometry(&increments, &l3g4200d),
         sercanmux1(&SD1, &CAND1, CAN::DI_WHEEL_DRIVE_ID),
         robot(&CAND1),
         userThread()
+      {
       uint32_t nodeDistThresh = 1;
           // -----------------------------
           public : Global()
           : HW_I2C1(&I2CD1),
             HW_I2C2(&I2CD2),
             HW_PCA9544(&HW_I2C2, 0x07u),
             V_I2C2{{VI2CDriver(&HW_PCA9544, 0), VI2CDriver(&HW_PCA9544, 1),
                     VI2CDriver(&HW_PCA9544, 2), VI2CDriver(&HW_PCA9544, 3)}},
             vcnl4020{{/* front left  */ VCNL4020(&V_I2C2[0], &vcnl4020_config),
                       /* left wheel  */ VCNL4020(&V_I2C2[1], &vcnl4020_config),
                       /* right wheel */ VCNL4020(&V_I2C2[2], &vcnl4020_config),
                       /* front right */ VCNL4020(&V_I2C2[3], &vcnl4020_config)}},
             hmc5883l(&HW_I2C1, &hmc5883l_config),
             HW_SPI1_ACCEL(&SPID1, &accel_spi1_config),
             HW_SPI1_GYRO(&SPID1, &gyro_spi1_config),
             lis331dlh(&HW_SPI1_ACCEL),
             l3g4200d(&HW_SPI1_GYRO),
             ina219(HW_I2C2, 0x40u),
             ltc4412(),
             at24c01(0x400u / 0x08u, 0x08u, 500u, &HW_I2C2),
             memory(at24c01, /*BMSV*/ 1, /*bmsv*/ 3, /*HMV*/ 1,
                    /*hmv*/ 0), // bmsv changed von 2 auf 3
             increments(&QEID3, &QEID4),
             motorcontrol(&PWMD2, &increments, GPIOB, GPIOB_POWER_EN, &memory),
             distcontrol(&motorcontrol, &increments),
             odometry(&increments, &l3g4200d),
             sercanmux1(&SD1, &CAND1, CAN::DI_WHEEL_DRIVE_ID),
             robot(&CAND1),
             userThread() {
         return;
+      }

AMiRo-OS

Revision f1d13b04