From 16d700e75c6c24612de49c1370eb6c293de695df Mon Sep 17 00:00:00 2001
From: Michal Sojka <sojkam1@fel.cvut.cz>
Date: Wed, 27 Feb 2013 11:26:38 +0100
Subject: [PATCH] Unify ORTE initialization

- Ensure that ORTE structure is zero-initialized. Either by it being a
  global variable or by explicit memset().
- Do not initialzie strength parameter (expect for in joyd). The default
  strength of all puvlishers is therefore zero.
---
 src/cand/cand.cc                | 5 ++---
 src/display-qt/ortesignals.cpp  | 4 ++--
 src/displayd/displayd.c         | 5 +----
 src/joyd/joyd.cc                | 2 +-
 src/robofsm/robot_orte.c        | 2 --
 src/robomon/RobomonAtlantis.cpp | 2 --
 src/robomon/RobomonTuning.cpp   | 4 +---
 7 files changed, 7 insertions(+), 17 deletions(-)

diff --git a/src/cand/cand.cc b/src/cand/cand.cc
index 50d6481c..c36836da 100644
--- a/src/cand/cand.cc
+++ b/src/cand/cand.cc
@@ -363,12 +363,13 @@ void rcv_lift_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 }
 }
 
+struct robottype_orte_data orte;
+
 int main(int argc, char *argv[])
 {
 	int ret;
 	int size;
 
-	struct robottype_orte_data orte;
 	struct can_frame frame;
 
 	if (cand_init() < 0) {
@@ -378,8 +379,6 @@ int main(int argc, char *argv[])
 		printf("cand: init OK\n");
 	}
 
-	orte.strength = 1;
-
 	/* orte initialization */
 	if(robottype_roboorte_init(&orte)) {
 		printf("Roboorte initialization failed! Exiting...\n");
diff --git a/src/display-qt/ortesignals.cpp b/src/display-qt/ortesignals.cpp
index 265c3575..d488a635 100644
--- a/src/display-qt/ortesignals.cpp
+++ b/src/display-qt/ortesignals.cpp
@@ -9,7 +9,7 @@ OrteSignals::OrteSignals()
 
 void OrteSignals::createOrte()
 {
-	orte.strength = 1;
+	memset(&orte, 0, sizeof(orte));
 	robottype_roboorte_init(&orte); //kontrola uspechu ?
 
 	//subscribers
@@ -58,4 +58,4 @@ void OrteSignals::color_con(char color)
 void OrteSignals::time_con(void)
 {
 	emit time_sig(orte.match_time.time);
-}
\ No newline at end of file
+}
diff --git a/src/displayd/displayd.c b/src/displayd/displayd.c
index 6c258d18..1c3cd6b0 100644
--- a/src/displayd/displayd.c
+++ b/src/displayd/displayd.c
@@ -389,7 +389,7 @@ void rcv_fsm_motion_cb(const ORTERecvInfo *info, void *vinstance,
 }
 
 
-
+struct robottype_orte_data orte;
 
 int main(int argc, char *argv[])
 {
@@ -398,7 +398,6 @@ int main(int argc, char *argv[])
 	int ret;
 	//int size;
 
-	struct robottype_orte_data orte;
 	char * tty;
 
 	signal(SIGINT, sig_handler);
@@ -424,8 +423,6 @@ int main(int argc, char *argv[])
 //#endif
 	}
 
-	orte.strength = 1;
-
 	/* orte initialization */
 	if(robottype_roboorte_init(&orte)) {
 		fprintf(stderr, "displayd: Roboorte initialization failed! Exiting...\n");
diff --git a/src/joyd/joyd.cc b/src/joyd/joyd.cc
index 84c5f0b5..9ebcec86 100644
--- a/src/joyd/joyd.cc
+++ b/src/joyd/joyd.cc
@@ -279,7 +279,7 @@ int main(int argc, char *argv[])
 
 	signal(SIGINT, int_handler);
 
-	orte.strength = 30;
+	orte.strength = 2;
 
 	/* orte initialization */
 	if (robottype_roboorte_init(&orte)) {
diff --git a/src/robofsm/robot_orte.c b/src/robofsm/robot_orte.c
index 9d5a2317..abb34f54 100644
--- a/src/robofsm/robot_orte.c
+++ b/src/robofsm/robot_orte.c
@@ -479,8 +479,6 @@ int robot_init_orte()
 {
 	int rv = 0;
 
-	robot.orte.strength = 20;
-
 	rv = robottype_roboorte_init(&robot.orte);
 	if (rv)
 		return rv;
diff --git a/src/robomon/RobomonAtlantis.cpp b/src/robomon/RobomonAtlantis.cpp
index 7995af1d..63270a71 100644
--- a/src/robomon/RobomonAtlantis.cpp
+++ b/src/robomon/RobomonAtlantis.cpp
@@ -774,8 +774,6 @@ void RobomonAtlantis::createOrte()
 {
 	int rv;
 
-	orte.strength = 11;
-
 	memset(&orte, 0, sizeof(orte));
 	rv = robottype_roboorte_init(&orte);
 	if (rv) {
diff --git a/src/robomon/RobomonTuning.cpp b/src/robomon/RobomonTuning.cpp
index 91dff8df..6e8f31ee 100644
--- a/src/robomon/RobomonTuning.cpp
+++ b/src/robomon/RobomonTuning.cpp
@@ -267,9 +267,7 @@ void RobomonTuning::closeEvent(QCloseEvent *)
  **********************************************************************/
 void RobomonTuning::createOrte()
 {
-
-	orte.strength = 12;
-
+	memset(&orte, 0, sizeof(orte));
 	if (robottype_roboorte_init(&orte) != 0) {
 		perror("robottype_roboorte_init");
 		exit(1);
-- 
2.39.2