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scoutos / scout / libscout / src / libscout.cpp @ 90c7a37c

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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file libscout.cpp
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 * @brief Contains top level scout library functions
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 * 
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 * Contains functions and definitions for the use of
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 * libscout
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Ben Wasserman
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 **/
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#include "libscout.h"
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/* Global objects */
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ros::NodeHandle libscout_node;
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/** \todo Decide how to call user behaviors
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  * I'm thinking that there be a function call in main that calls the "main"
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  fn in the user behavior. However, their "main" function will not be called 
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  main. However, this has to be able to point to different functions by 
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  changing as little code in this file as possible. Also, the user behaviors
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  should live in a different directory (possibly a different package).
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  However, this other package should not be executed as a separate node,
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  because that is the job of the libscout node/package to handle all the ROS 
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  stuff, and keep it under the lid. The user only has to call normal c 
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  functions. I also want to reduce the need to recompile this package when the 
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  user behavior, or any other package that works below the surface.
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**/
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/*!
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 * \brief Initializes modules in the libscout.
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 * 
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 * Calls init functions for each module in libscout.
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 * \param modules A bitmask of the modules that will be initialized.
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 **/
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int init(int modules, int argc, char **argv){
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        ros::init(argc, argv, "libscout");
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  /** \todo Copy this if for each module that gets added to the library */
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  if(modules & LIB_MOTORS){
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    libmotors_init();
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  }
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        if(modules & LIB_HEADLIGHTS){
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    libheadlights_init();
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  }
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  /** \todo Add other lib inits **/
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  return 0;
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}
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