scoutos / scout / libscout / src / test_behaviors / ApproachEmitter.cpp @ fb61cb17
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1 | 9b5d3fff | Hui Jun Tay | /**
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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 | */
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25 | |||
26 | #include "ApproachEmitter.h" |
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27 | fb61cb17 | Yuyang (Misty) Guo | #define TOP_BOM 0 |
28 | #define BOT_BOM 1 |
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29 | 9b5d3fff | Hui Jun Tay | |
30 | using namespace std; |
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31 | |||
32 | fb61cb17 | Yuyang (Misty) Guo | ApproachEmitter::ApproachEmitter(string scoutname, Sensors* sensors)
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33 | 9b5d3fff | Hui Jun Tay | : Behavior(scoutname, "Approach Emitter", sensors) {
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34 | name = scoutname; |
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35 | scout_pos = new pos;
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36 | fb61cb17 | Yuyang (Misty) Guo | |
37 | // initallize the side index values :D UGLY!!! But best solution so far
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38 | FRONT.push_back(0);
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39 | LEFT.push_back(1);
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40 | LEFT.push_back(2);
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41 | LEFT.push_back(3);
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42 | BACK.push_back(4);
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43 | BACK.push_back(5);
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44 | RIGHT.push_back(6);
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45 | RIGHT.push_back(7);
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46 | RIGHT.push_back(8);
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47 | FRONT.push_back(9);
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48 | |||
49 | } |
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50 | |||
51 | int ApproachEmitter::identifyPosition(
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52 | vector<uint32_t> readings, vector<uint32_t> senders) { |
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53 | bool identified = 0; |
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54 | int top_em_count = 0; |
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55 | int bot_em_count = 0; |
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56 | if (accumulate(&(readings[RIGHT.front()]),
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57 | &(readings[RIGHT.back()])+1, 0) >= 2) { |
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58 | for (int i=RIGHT.front(); i<RIGHT.back(); i++) { |
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59 | top_em_count += (senders[i] == TOP_BOM); |
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60 | bot_em_count += (senders[i] == BOT_BOM); |
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61 | } |
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62 | if (top_em_count * bot_em_count != 0) { |
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63 | //ROS_INFO("HAND OVER TO HUIJUN!");
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64 | } else if (top_em_count > 0) { |
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65 | motors->set_sides(-50, -50, MOTOR_PERCENT); |
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66 | } else {
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67 | motors->set_sides(50, 50, MOTOR_PERCENT); |
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68 | } |
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69 | identified = 1;
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70 | } else if (accumulate(&(readings[LEFT.front()]), |
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71 | &(readings[LEFT.back()])+1, 0) >= 2) { |
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72 | |||
73 | for (int i=LEFT.front(); i<LEFT.back(); i++) { |
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74 | top_em_count += (senders[i] == TOP_BOM); |
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75 | bot_em_count += (senders[i] == BOT_BOM); |
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76 | } |
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77 | if (top_em_count * bot_em_count != 0) { |
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78 | } else if (top_em_count > 0) { |
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79 | motors->set_sides(50, 50, MOTOR_PERCENT); |
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80 | } else {
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81 | motors->set_sides(-50, -50, MOTOR_PERCENT); |
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82 | } |
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83 | identified = 1;
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84 | } |
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85 | return identified;
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86 | 9b5d3fff | Hui Jun Tay | } |
87 | |||
88 | void ApproachEmitter::run() {
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89 | b71f5bca | Yuyang (Misty) Guo | ROS_INFO("BOM Main Running");
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90 | 8ae3771a | Yuyang (Misty) Guo | BomReadings bomR; |
91 | vector<uint32_t> r; |
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92 | vector<uint32_t> s; |
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93 | 2380e2a4 | Yuyang (Misty) Guo | while (ok()) {
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94 | 8ae3771a | Yuyang (Misty) Guo | bomR = bom->query(); |
95 | r = bomR.readings; |
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96 | s = bomR.senders; |
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97 | fb61cb17 | Yuyang (Misty) Guo | if (identifyPosition(r, s)) {
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98 | // do nothing
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99 | } else {
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100 | motors->set_sides(0, 50, MOTOR_PERCENT); |
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101 | ac55b507 | Yuyang (Misty) Guo | } |
102 | 2380e2a4 | Yuyang (Misty) Guo | } |
103 | fb61cb17 | Yuyang (Misty) Guo | while (ok()) {}
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104 | 9b5d3fff | Hui Jun Tay | } |