scoutos / scout / libscout / src / libscout.cpp @ c406f16b
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/**
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* Copyright (c) 2007 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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**/
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/* Author: Ben Wasserman
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*/
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#include "libscout.h" |
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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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int main(int argc, char **argv){ |
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ros::init(argc, argv, "libscout");
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init(LIB_ALL); |
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/** \todo remove this test code **/
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// motors_set(100, 0);
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// ROS_INFO("%d", motors_query(0));
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return 0; |
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} |
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int init(int modules){ |
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if(modules & LIB_MOTORS){
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libmotors_init(); |
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} |
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/** \todo Add other lib inits **/
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return 0; |
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} |