Fix sector sensor and remove trailing whitespaces

robot/cli.cpp

@@ -93,21 +93,21 @@ void CLI::init() {
 
     } while (_robotName.length() < 4);
 
-    
+
     do // Read address of arena server
     {
         std::cout << "Enter server address [XX.XX.XX.XX]: " << std::endl;
         std::cin >> _serverAddress;
-        
+
     } while (_serverAddress.empty());
 
     do // Read address of arena server
     {
         std::cout << "Enter server port: " << std::endl;
         std::cin >> _serverPort;
-        
+
     } while (_serverPort == 123123123123);
-    
+
     robotName = _robotName;
     serverAddress = _serverAddress;
     serverPort = _serverPort;
@@ -121,7 +121,7 @@ void CLI::startCLI() {
         // update scene
         clearScene();
         printScene(commands);
-        
+
         // read new input
         std::string input;
         input = getUserInput();
@@ -174,7 +174,7 @@ void CLI::printScene(std::string fixedMessage/* = "" */) {
     std::cout << "________________________________________________________________________________   "  << std::endl;
     if(fixedMessage != ""){
         std::cout << fixedMessage << std::endl;
-        std::cout << "________________________________________________________________________________   "  << std::endl; 
+        std::cout << "________________________________________________________________________________   "  << std::endl;
     }
     std::cout << "" << std::endl;
     std::cout << " < Log: >                                                                " << std::endl;
@@ -236,7 +236,7 @@ void CLI::sensors(){
                              + std::string(" sector    --> get sector sensor readings | speed      --> get current speed\n\n")
                              + std::string(" exit      --> go back to 'commands' ");
     updateScene(fixedMessage);
-    
+
     std::string input = "";
     while(true){
         input = getUserInput();
@@ -252,7 +252,7 @@ void CLI::commSeq(){
                              + std::string(" measureLat  --> measure latencies\n\n")
                              + std::string(" exit        --> go back to 'commands' ");
     updateScene(fixedMessage);
-    
+
     std::string input = "";
     while(true){
         input = getUserInput();
@@ -269,7 +269,7 @@ void CLI::behavior(){
                              + std::string(" targetBraking  --> start TargetBreaking behavior\n\n")
                              + std::string(" exit           --> go back to 'commands' ");
     updateScene(fixedMessage);
-    
+
     std::string input = "";
     while(true){
         input = getUserInput();
@@ -288,7 +288,7 @@ void CLI::tBehavior(){
                              + std::string(" tStop           --> stops current behavior\n\n")
                              + std::string(" exit            --> go back to 'commands' ");
     updateScene(fixedMessage);
-    
+
     std::string input = "";
     while(true){
         input = getUserInput();
@@ -327,7 +327,7 @@ float CLI::speed(){
      * TODO Aufgabe 1.4
      *      Testen Sie Robot::getSpeed() indem sie "speed" im CLI aufrufen
      * TODO Aufgabe 3.2
-     *      Wenn Sie Robot::getSpeedAsync() implementiert haben, 
+     *      Wenn Sie Robot::getSpeedAsync() implementiert haben,
      *      rufen Sie statt der ersten die zweite Zeile auf (die getSpeedAsync verwendet).
      */
 
@@ -353,14 +353,14 @@ void CLI::simple(){
 
 
     /*
-     * TODO Aufgabe 1.4 
+     * TODO Aufgabe 1.4
      *      warten, bis Roboter steht und Wegstreckenzähler erneut ausgeben.
      */
 
     // warten, bis Geschwindigkeit 0 erreicht hat.
     // vvvv--
     // ^^^^--
-    
+
     float dist2 = 42.0; // TODO: Wegstreckenzähler auslesen (dist2 wird unten ausgegeben)
     // vvvv--
     // ^^^^--
@@ -383,11 +383,11 @@ void CLI::measureLat(){
     std::chrono::time_point<std::chrono::high_resolution_clock> t_start;
     std::chrono::time_point<std::chrono::high_resolution_clock> t_end;
 
-    t_start = std::chrono::high_resolution_clock::now(); 
+    t_start = std::chrono::high_resolution_clock::now();
     for (unsigned int i=0; i<100; ++i) {
         usleep(10e3);
     }
-    t_end = std::chrono::high_resolution_clock::now(); 
+    t_end = std::chrono::high_resolution_clock::now();
 
     int microseconds = std::chrono::duration_cast<std::chrono::microseconds>(t_end - t_start).count()/100;
     logString("Time for usleep(10e3): " + std::to_string(microseconds) + "us");
@@ -470,7 +470,7 @@ void CLI::processInput(std::string input){
         running = false;
 
     } else if(input == "telnet"){
-        telnet();   
+        telnet();
 
     } else if((pos = input.find("logsize")) == 0) {
         std::string s_size = "";
@@ -511,8 +511,8 @@ void CLI::processInput(std::string input){
                 catch (const std::invalid_argument& ia) {
                     logString("INVALID INPUT ARGUMENT " + s_size + " - <UNSIGNED INT> EXPECTED");
                     size = -1;
-                }            
-            
+                }
+
             setLogSize(size);
             logstring = "logsize : new size = " + std::to_string(LOGSIZE);
             }
@@ -528,7 +528,7 @@ void CLI::processInput(std::string input){
         }
         speedVal = newSpeed;
         p_robot->speed(newSpeed);
-    
+
     } else if(input == "s" || input == "S"){
         int newSpeed = speedVal - 1.0;
         if(abs(newSpeed) > maxSpeed){
@@ -540,11 +540,11 @@ void CLI::processInput(std::string input){
         }
         speedVal = newSpeed;
         p_robot->speed(newSpeed);
-    
+
     } else if(input == "a" || input == "A"){
         p_robot->turn(-10.0);
         logstring += " : -10° turn (left)";
-        
+
     } else if(input == "d" || input == "D") {
         p_robot->turn(10.0);
         logstring += " : +10° turn (right)";
@@ -555,7 +555,7 @@ void CLI::processInput(std::string input){
     } else if ((pos = input.find("SETSPEED")) == 0 || (pos = input.find("setspeed")) == 0){
         std::string s_newSpeed = "";
         float newSpeed = -42.0;
-        
+
         if(input.size() > 8){ // additional parameter given
             s_newSpeed = input.substr(9, input.size()-9);
             try{
@@ -607,7 +607,7 @@ void CLI::processInput(std::string input){
         logstring += ": set behavior to BrakeTest(speed = " + param + ")";
         brakeTest(param);
     */
-    // First level functions 
+    // First level functions
     else if(input == "sensors"){
         sensors();
     } else if(input == "commSeq"){
@@ -627,7 +627,7 @@ void CLI::processInput(std::string input){
     } else if ((pos = input.find("line")) == 0) {
         std::string s_angle = "";
         double angle = 0;
-        
+
         if(input.size() > 4){ // additional parameter given
             s_angle = input.substr(5, input.size()-5);
             try{
@@ -667,8 +667,8 @@ void CLI::processInput(std::string input){
                 logString("INVALID INPUT ARGUMENT " + s_sec + " - <INTEGER> EXPECTED");
                 sec = -42;
             }
-            if(sec != -2 && sec != -1 && sec != 1 && sec != 2) {
-                while(sec != -2 && sec != -1 && sec != 1 && sec != 2){
+            if(sec != -2 && sec != -1 && sec != 0 && sec != 1 && sec != 2) {
+                while(sec != -2 && sec != -1 && sec != 0 && sec != 1 && sec != 2){
                     updateScene("\nGive sector <int> [-2,2]: ");
                     std::string s_sec;
                     std::cout << "> ";
@@ -683,7 +683,7 @@ void CLI::processInput(std::string input){
                 }
             }
         } else {
-            while(sec != -2 && sec != -1 && sec != 1 && sec != 2){
+            while(sec != -2 && sec != -1 && sec != 0 && sec != 1 && sec != 2){
                 updateScene("\nGive sector <int> [-2,2]: ");
                 std::string s_sec;
                 std::cout << "> ";
@@ -700,13 +700,13 @@ void CLI::processInput(std::string input){
         logstring = "sector(" + std::to_string(sec) + ") = " + std::to_string(sector(sec));
     } else if(input == "speed"){
         logstring += " = " + std::to_string(speed());
-    } 
+    }
     //// commSeq
     else if(input == "simple"){
         simple();
     } else if(input == "measureLat"){
         measureLat();
-    } 
+    }
     //// behavior
     else if((pos = input.find("brakeTest")) == 0){
         if(input.size() > 9){ // additional parameter given
@@ -726,7 +726,7 @@ void CLI::processInput(std::string input){
         }
         logstring += ": set behavior to TargetBraking(speed = " + param + ")";
         targetBraking(param);
-    } 
+    }
     //// tBehavior
     else if((pos = input.find("tTargetBraking")) == 0){
         if(input.size() > 14){
@@ -756,7 +756,7 @@ void CLI::processInput(std::string input){
         logstring += ": behavior stopped";
         tStop();
     }
-    // Invalid command 
+    // Invalid command
     else {
         logstring += " <-- is no valid command!...";
     }