scoutos / scout / libscout / src / Behavior.cpp @ 5da15275
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1 | cef78c70 | pdeo | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | c492be62 | Alex Zirbel | */
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25 | cef78c70 | pdeo | |
26 | /**
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27 | * @file Behavior.cpp
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28 | c492be62 | Alex Zirbel | * @brief Contains basic functions for the structure of all behaviors.
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29 | cef78c70 | pdeo | *
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30 | * Contains function implementations needed for all behavior.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | * @author Priyanka Deo
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34 | c384dc7e | Alex Zirbel | * @author Alex Zirbel
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35 | cef78c70 | pdeo | **/
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36 | |||
37 | #include "Behavior.h" |
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38 | |||
39 | c384dc7e | Alex Zirbel | using namespace std; |
40 | cef78c70 | pdeo | |
41 | dcf49526 | Priya | bool Behavior::keep_running;
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42 | |||
43 | c492be62 | Alex Zirbel | /**
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44 | * Constructs a behavior and sets up all control classes.
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45 | *
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46 | * This constructor is used by all behaviors which inherit the Behavior
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47 | * class, so that it is easy to create a behavior with access to ROS
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48 | * functionality through the control classes.
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49 | *
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50 | * @param scoutname If nonempty, specifies which scout in the simulator
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51 | * will be controlled by this behavior.
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52 | */
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53 | d140fd71 | Yuyang | Behavior::Behavior(string scoutname, string my_name, Sensors * sensors) |
54 | c384dc7e | Alex Zirbel | { |
55 | d140fd71 | Yuyang | name = my_name; |
56 | dcf49526 | Priya | keep_running = true;
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57 | d140fd71 | Yuyang | sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor, |
58 | &wl_sender, &wl_receiver); |
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59 | a2b7e8f1 | Priya | wl_receiver->register_callback(std::bind(&Behavior::default_callback, |
60 | this, std::placeholders::_1));
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61 | |||
62 | c384dc7e | Alex Zirbel | loop_rate = new ros::Rate(10); |
63 | cef78c70 | pdeo | } |
64 | |||
65 | c492be62 | Alex Zirbel | /**
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66 | a2b7e8f1 | Priya | * Cleans up after a behavior is killed.
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67 | */
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68 | Behavior::~Behavior() |
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69 | { |
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70 | motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
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71 | faa11f08 | Priya | spinOnce(); |
72 | a2b7e8f1 | Priya | delete wl_receiver;
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73 | delete loop_rate;
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74 | } |
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75 | |||
76 | /**
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77 | * Empty callback used as default callback for wireless receiver.
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78 | */
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79 | void Behavior::default_callback(vector<uint8_t> data)
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80 | { |
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81 | return;
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82 | } |
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83 | |||
84 | /**
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85 | c492be62 | Alex Zirbel | * Allows the behavior to check ros::ok(), without being aware of ROS.
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86 | */
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87 | c384dc7e | Alex Zirbel | bool Behavior::ok()
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88 | cef78c70 | pdeo | { |
89 | dcf49526 | Priya | return keep_running;
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90 | cef78c70 | pdeo | } |
91 | |||
92 | c492be62 | Alex Zirbel | /**
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93 | * Allows the behavior to call ros::spin(), without being aware of ROS.
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94 | */
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95 | c384dc7e | Alex Zirbel | void Behavior::spin()
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96 | cef78c70 | pdeo | { |
97 | ros::spin(); |
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98 | return;
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99 | } |
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100 | |||
101 | c492be62 | Alex Zirbel | /**
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102 | * Allows the behavior to call ros::spinOnce(), without being aware of ROS.
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103 | */
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104 | c384dc7e | Alex Zirbel | void Behavior::spinOnce()
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105 | cef78c70 | pdeo | { |
106 | c384dc7e | Alex Zirbel | ros::spinOnce(); |
107 | cef78c70 | pdeo | return;
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108 | } |
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109 | 4026134b | Alex | |
110 | /**
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111 | * Calls ros::spinOnce() in a loop until the duration is up.
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112 | */
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113 | void Behavior::wait(float duration) |
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114 | { |
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115 | ros::Rate r(WAIT_HZ); |
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116 | int ticks = int(duration * 100); |
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117 | for (int i = 0; i < ticks; i++) |
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118 | { |
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119 | spinOnce(); |
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120 | r.sleep(); |
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121 | } |
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122 | } |