Unify ORTE initialization

[eurobot/public.git] / src / display-qt / ortesignals.cpp

diff --git a/src/display-qt/ortesignals.cpp b/src/display-qt/ortesignals.cpp
index b3bb731b8627de4acd4b380a3a07dee0554576fd..d488a635d84679d97138e454000173dad43131ef 100644 (file)
--- a/src/display-qt/ortesignals.cpp
+++ b/src/display-qt/ortesignals.cpp
@@ -9,13 +9,14 @@ OrteSignals::OrteSignals()
 
 void OrteSignals::createOrte()
 {
-       orte.strength = 1;
+       memset(&orte, 0, sizeof(orte));
        robottype_roboorte_init(&orte); //kontrola uspechu ?
 
        //subscribers
        robottype_subscriber_odo_data_create(&orte, rcv_odo_data_cb, this);
        robottype_subscriber_motion_status_create(&orte, rcv_motion_status_cb, this);
-       robottype_subscriber_vidle_status_create(&orte, rcv_vidle_status_cb, this);
+       robottype_subscriber_lift_status_create(&orte, rcv_lift_status_cb, this);
+        robottype_subscriber_jaws_status_create(&orte, rcv_jaws_status_cb, this);
        robottype_subscriber_pwr_voltage_create(&orte, rcv_pwr_voltage_cb, this);
        robottype_subscriber_est_pos_best_create(&orte, rcv_est_pos_best_cb, this);
        robottype_subscriber_hokuyo_scan_create(&orte, rcv_hokuyo_scan_cb, this);
@@ -25,6 +26,7 @@ void OrteSignals::createOrte()
        robottype_subscriber_fsm_motion_create(&orte, rcv_fsm_motion_cb, this);
        robottype_subscriber_robot_cmd_create(&orte, rcv_robot_cmd_cb, this);
        robottype_subscriber_robot_switches_create(&orte, rcv_robot_swicthes_cb, this);
+       robottype_subscriber_match_time_create(&orte, rcv_match_time_cb, this);
 }
 
 void OrteSignals::fsm_con(UDE_fsm_t fsm, QString state)
@@ -52,3 +54,8 @@ void OrteSignals::color_con(char color)
 {
        emit color_sig(color);
 }
+
+void OrteSignals::time_con(void)
+{
+       emit time_sig(orte.match_time.time);
+}