Statistics
| Branch: | Revision:

root / scout / libscout / src / Behavior.h @ 4026134b

History | View | Annotate | Download (3.12 KB)

1 cef78c70 pdeo
/**
2
 * Copyright (c) 2011 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24 c492be62 Alex Zirbel
 */
25 cef78c70 pdeo
26
/**
27
 * @file Behavior.h
28
 * @brief Contains declarations for the structure of all behaviours.
29
 * 
30
 * Contains functions and definitions for a generic behavior.
31
 *
32
 * @author Colony Project, CMU Robotics Club
33
 * @author Priyanka Deo
34 c384dc7e Alex Zirbel
 * @author Alex Zirbel
35 cef78c70 pdeo
 **/
36
37 c384dc7e Alex Zirbel
#ifndef _BEHAVIOR_H_
38 cef78c70 pdeo
#define _BEHAVIOR_H_
39
40 c384dc7e Alex Zirbel
#include <ros/ros.h>
41 7ac5e9bc Priya
#include <std_msgs/String.h>
42 dcf49526 Priya
#include <iostream>
43 c384dc7e Alex Zirbel
44
#include "MotorControl.h"
45
#include "HeadlightControl.h"
46 c492be62 Alex Zirbel
#include "ButtonControl.h"
47 c384dc7e Alex Zirbel
#include "SonarControl.h"
48 e1a60f89 Priya
//#include "CliffsensorControl.h"
49 a739cdbd Alex Zirbel
#include "EncodersControl.h"
50 26258aeb Alex
#include "LinesensorControl.h"
51 5d0687a9 Priya
#include "WirelessSender.h"
52
#include "WirelessReceiver.h"
53 cc558a8d Alex Zirbel
#include "constants.h"
54 d140fd71 Yuyang
#include "Sensors.h"
55 cef78c70 pdeo
56 cccc25c9 Priya
typedef ros::Time Time;
57
typedef ros::Duration Duration;
58
59 4026134b Alex
#define WAIT_HZ 100     // Frequency of spinOnce() calls in wait()
60
61 cef78c70 pdeo
class Behavior
62
{
63
    public:
64 c384dc7e Alex Zirbel
        // Initializes ROS for behavior
65 d140fd71 Yuyang
        // name stands for behavior name
66
        Behavior(std::string scoutname, std::string name,
67
                 Sensors * sensor);
68 cef78c70 pdeo
69 a2b7e8f1 Priya
        virtual ~Behavior();
70
71 c492be62 Alex Zirbel
        /// Extended by subclasses to actually run the behavior.
72 c384dc7e Alex Zirbel
        virtual void run() = 0;
73 cef78c70 pdeo
74 dc742c14 Alex
        // Name of behaviour
75
        std::string name;
76 dcf49526 Priya
77
        // Flag to check if sigint recieved.
78
        static bool keep_running;
79 d140fd71 Yuyang
        
80 c384dc7e Alex Zirbel
    protected:
81
        ros::NodeHandle node;
82 c492be62 Alex Zirbel
83
        /// @todo Should this really be a pointer, or the object itself somehow?
84 c384dc7e Alex Zirbel
        ros::Rate *loop_rate;
85 cef78c70 pdeo
86 c384dc7e Alex Zirbel
        // Declare all used library controls
87
        MotorControl * motors;
88 c492be62 Alex Zirbel
        ButtonControl * buttons;
89
        SonarControl * sonar;
90 e1a60f89 Priya
        //CliffsensorControl * cliffsensor;
91 a739cdbd Alex Zirbel
        EncodersControl * encoders;
92 26258aeb Alex
        LinesensorControl * linesensor;
93 5d0687a9 Priya
        WirelessSender * wl_sender;
94
        WirelessReceiver * wl_receiver;
95 cef78c70 pdeo
96 a2b7e8f1 Priya
        // Default callback for wireless receiver.
97
        void default_callback(std::vector<uint8_t> data);
98
99 c384dc7e Alex Zirbel
        // Wrappers for ROS functions
100 dcf49526 Priya
        static bool ok();
101
        static void spin();
102
        static void spinOnce();
103 4026134b Alex
104
        static void wait(float duration);
105 cef78c70 pdeo
};
106
107
#endif