src/RvcSoftwareController.cpp
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | #include "rvc/RvcSoftwareController.hpp" | ||
| 2 | |||
| 3 | namespace rvc { | ||
| 4 | |||
| 5 | 3 | RvcSoftwareController::RvcSoftwareController(MotionCommandSink& motionSink, | |
| 6 | CleaningCommandSink& cleaningSink) | ||
| 7 | 3 | : cleaning_(cleaningSink), | |
| 8 |
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3 | navigation_(motionSink, cleaning_), |
| 9 |
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3 | perception_(navigation_), |
| 10 |
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3 | session_(navigation_, cleaning_) {} |
| 11 | |||
| 12 | 1 | void RvcSoftwareController::initialize() { | |
| 13 | 1 | session_.StopSession(); | |
| 14 | 1 | } | |
| 15 | |||
| 16 | 1 | SessionIntentPort& RvcSoftwareController::sessionIntentPort() noexcept { | |
| 17 | 1 | return session_; | |
| 18 | } | ||
| 19 | |||
| 20 | 1 | ObstacleInputPort& RvcSoftwareController::obstacleInputPort() noexcept { | |
| 21 | 1 | return perception_; | |
| 22 | } | ||
| 23 | |||
| 24 | 1 | DustInputPort& RvcSoftwareController::dustInputPort() noexcept { | |
| 25 | 1 | return cleaning_; | |
| 26 | } | ||
| 27 | |||
| 28 | 1 | AutomaticCleaningSession& RvcSoftwareController::session() noexcept { | |
| 29 | 1 | return session_; | |
| 30 | } | ||
| 31 | |||
| 32 | 1 | ObstaclePerceptionContext& RvcSoftwareController::perception() noexcept { | |
| 33 | 1 | return perception_; | |
| 34 | } | ||
| 35 | |||
| 36 | ✗ | NavigationAndEscapeCoordinator& RvcSoftwareController::navigation() noexcept { | |
| 37 | ✗ | return navigation_; | |
| 38 | } | ||
| 39 | |||
| 40 | 1 | SurfaceCleaningController& RvcSoftwareController::cleaning() noexcept { | |
| 41 | 1 | return cleaning_; | |
| 42 | } | ||
| 43 | |||
| 44 | } // namespace rvc | ||
| 45 |