Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file Behavior.cpp

 * @brief A wrapper that executes PriyaBehavior as an executable.

 *

 * Should be auto-generated in the future.

 * 

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 */

#include "BehaviorProcess.h"

#include "Sensors.h"

#include <assert.h>

#include <signal.h>

// Make the behavior's ok() function return false.

void sigint_handler(int sig)

{

  Behavior::keep_running = false;  

}

int main (int argc, char **argv)

{

    string scoutname = "";

    int behavior_num;

    string behavior_name = "";

    // Running with no arguments only supports one scout. Check in case

    // the user meant to specify a scout in the arguments.

    if (argc < 2)

    {

        cout << "You have started this behavior in hardware mode." << endl

             << "To start in software mode, use: " << argv[0]

             << " <behavior#> <scoutname> " << endl;

    }

    else

    {

        // Use the provided scoutname for simulator messages

        //scoutname = argv[1];

        behavior_num = atoi(argv[1]);

        if (argc == 3) {

            scoutname = argv[2];

        }

        ros::init(argc, argv, scoutname + "Behavior",

            ros::init_options::NoSigintHandler);

        // Initialize the signal handler after initializing rosnode.

        // Otherwise it will be overwritten and you will be sad.

        signal(SIGINT, sigint_handler);

        // one Sensor instance per-class

        Sensors* sensors = new Sensors(scoutname);

        BehaviorList* list = new BehaviorList();

        vector<behavior_func> behavior_list = list->behavior_list;

        if (behavior_num < (int)behavior_list.size())

        {

            Behavior* b = behavior_list[behavior_num](scoutname, sensors);

            b->run();

            delete b;

        }

        else

        {

            cout << "There is no behavior number" << behavior_num

              << ". There are only " << (int)behavior_list.size() << "behaviors."

              << endl;

        }

        delete list;

        delete sensors;

    }

    return 0;

}