50 lines
1.5 KiB
C++
50 lines
1.5 KiB
C++
#include "Thing.h"
|
|
|
|
using namespace Passer::RoboidControl;
|
|
|
|
Thing::Thing() : position(Polar::zero) {
|
|
this->type = (unsigned int)Type::Undetermined;
|
|
this->childCount = 0;
|
|
this->parent = nullptr;
|
|
this->children = nullptr;
|
|
}
|
|
|
|
const unsigned int Thing::SwitchType = SensorType | (unsigned int)Type::Switch;
|
|
const unsigned int Thing::DistanceSensorType =
|
|
SensorType | (unsigned int)Type::DistanceSensor;
|
|
const unsigned int Thing::ControlledMotorType =
|
|
MotorType | (unsigned int)Type::ControlledMotor;
|
|
const unsigned int Thing::UncontrolledMotorType =
|
|
MotorType | (unsigned int)Type::UncontrolledMotor;
|
|
const unsigned int Thing::ServoType = (unsigned int)Type::Servo;
|
|
const unsigned int Thing::ExternalType = (unsigned int)Type::ExternalSensor;
|
|
|
|
bool Thing::IsMotor() { return (type & Thing::MotorType) != 0; }
|
|
|
|
bool Thing::IsSensor() { return (type & Thing::SensorType) != 0; }
|
|
|
|
void Thing::SetParent(Thing *parent) { this->parent = parent; }
|
|
|
|
Thing *Thing::GetParent() { return this->parent; }
|
|
|
|
void Thing::AddChild(Thing *child) {
|
|
Thing **newChildren = new Thing *[this->childCount + 1];
|
|
for (unsigned char childIx = 0; childIx < this->childCount; childIx++)
|
|
newChildren[childIx] = this->children[childIx];
|
|
|
|
newChildren[this->childCount] = child;
|
|
child->SetParent(this);
|
|
|
|
if (this->children != nullptr)
|
|
delete[] this->children;
|
|
|
|
this->children = newChildren;
|
|
this->childCount++;
|
|
}
|
|
|
|
Thing *Thing::GetChild(unsigned char childIx) {
|
|
if (childIx < this->childCount) {
|
|
return this->children[childIx];
|
|
} else
|
|
return nullptr;
|
|
} |