From d3f518a5fcbbd8c4fe0a19c20d6a4162403b8ae0 Mon Sep 17 00:00:00 2001
From: Michal Vokac <vokac.m@gmail.com>
Date: Sat, 12 May 2012 02:11:14 +0200
Subject: [PATCH] robomon: Add button for strategy switching.

How to use only one function for this purpose?
I do not want to use func_1 for sending value 1 and func_0 for sending value 0.
---
 src/robomon/RobomonAtlantis.cpp | 17 +++++++++++++++++
 src/robomon/RobomonAtlantis.h   |  3 +++
 2 files changed, 20 insertions(+)

diff --git a/src/robomon/RobomonAtlantis.cpp b/src/robomon/RobomonAtlantis.cpp
index f2e9a5ff..7995af1d 100644
--- a/src/robomon/RobomonAtlantis.cpp
+++ b/src/robomon/RobomonAtlantis.cpp
@@ -182,6 +182,9 @@ void RobomonAtlantis::createMiscGroupBox()
 
 	colorChoser = new QCheckBox("&Team color");
 	layout->addWidget(colorChoser);
+        
+        strategyButton= new QPushButton(tr("Strategy"));
+        layout->addWidget(strategyButton);
 
 	miscGroupBox->setLayout(layout);
 }
@@ -350,6 +353,8 @@ void RobomonAtlantis::createActions()
 
 	connect(startPlug, SIGNAL(stateChanged(int)), this, SLOT(sendStart(int)));
 	connect(colorChoser, SIGNAL(stateChanged(int)), this, SLOT(setTeamColor(int)));
+        connect(strategyButton, SIGNAL(pressed()), this, SLOT(changeStrategy_1()));
+        connect(strategyButton, SIGNAL(released()), this, SLOT(changeStrategy_0()));
 
 	/* obstacle simulation */
 	simulationEnabled = 0;
@@ -363,6 +368,18 @@ void RobomonAtlantis::createActions()
 			this, SLOT(changeObstacle(QPointF)));
 }
 
+void RobomonAtlantis::changeStrategy_1()
+{
+        orte.robot_switches.strategy = true;
+        ORTEPublicationSend(orte.publication_robot_switches);
+}
+
+void RobomonAtlantis::changeStrategy_0()
+{
+        orte.robot_switches.strategy = false;
+        ORTEPublicationSend(orte.publication_robot_switches);
+}
+
 void RobomonAtlantis::setVoltage33(int state)
 {
 	if (state)
diff --git a/src/robomon/RobomonAtlantis.h b/src/robomon/RobomonAtlantis.h
index 7a8c32c0..f62fe99c 100644
--- a/src/robomon/RobomonAtlantis.h
+++ b/src/robomon/RobomonAtlantis.h
@@ -81,6 +81,8 @@ private slots:
 	void changeObstacle(QPointF position);
 	void sendStart(int plug);
 	void setTeamColor(int plug);
+        void changeStrategy_1();
+        void changeStrategy_0();
 
 	/************************************************************
 	 * ORTE
@@ -164,6 +166,7 @@ private:
 	QLabel *fsm_motion_state;
 	QCheckBox *startPlug;
 	QCheckBox *colorChoser;
+        QPushButton *strategyButton;
 public:
 	/* robot */
 	Robot *robotRefPos;
-- 
2.39.2