From 9b6bce5155c3153a8d98687a90e63e83ff0a8445 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Tue, 22 Oct 2024 11:25:38 +0200
Subject: [PATCH] Release thing method added

---
 Roboid.cpp | 8 +++++++-
 Roboid.h   | 5 +++--
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/Roboid.cpp b/Roboid.cpp
index e687f4d..032f01a 100644
--- a/Roboid.cpp
+++ b/Roboid.cpp
@@ -31,7 +31,7 @@ Roboid::Roboid(Propulsion *propulsion) : Roboid() {
     propulsion->roboid = this;
 }
 
-void Passer::RoboidControl::Roboid::SetName(char *name) { this->name = name; }
+void Roboid::SetName(const char *name) { this->name = name; }
 
 #include <Arduino.h>
 void Roboid::Update(unsigned long currentTimeMs) {
@@ -119,3 +119,9 @@ void Roboid::AddChild(Thing *child) {
     this->perception->AddSensor(childSensor);
   }
 }
+
+void Passer::RoboidControl::Roboid::Release(Thing *child) {
+  if (RemoveChild(child) != nullptr)
+    this->perception->AddTrackedObject(nullptr, Spherical16::zero,
+                                       SwingTwist16::identity, child->type);
+}
diff --git a/Roboid.h b/Roboid.h
index 2a4c83d..0d40845 100644
--- a/Roboid.h
+++ b/Roboid.h
@@ -20,8 +20,8 @@ public:
   /// @param propulsion The Propulsion implementation to use for this Roboid
   Roboid(Propulsion *propulsion);
 
-  char *name = nullptr;
-  void SetName(char *name);
+  const char *name = nullptr;
+  void SetName(const char *name);
 
   /// @brief Update the state of the Roboid
   /// @param currentTimeMs The time in milliseconds when calling this
@@ -67,6 +67,7 @@ public:
   virtual void SetOrientation(SwingTwist16 worldOrientation);
 
   virtual void AddChild(Thing *child) override;
+  void Release(Thing *child);
 
 private:
   /// @brief The position of the roboid in carthesian coordinates in world space