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.h

 * @brief Contains declarations for the structure of all behaviours.

 * 

 * Contains functions and definitions for a generic behavior.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Alex Zirbel

 **/

#ifndef _BEHAVIOR_H_

#define _BEHAVIOR_H_

#include <ros/ros.h>

#include <std_msgs/String.h>

#include <iostream>

#include "MotorControl.h"

#include "HeadlightControl.h"

#include "ButtonControl.h"

#include "SonarControl.h"

//#include "CliffsensorControl.h"

#include "EncodersControl.h"

#include "LinesensorControl.h"

#include "WirelessSender.h"

#include "WirelessReceiver.h"

#include "constants.h"

#include "Sensors.h"

typedef ros::Time Time;

typedef ros::Duration Duration;

#define WAIT_HZ 100     // Frequency of spinOnce() calls in wait()

class Behavior

{

    public:

        // Initializes ROS for behavior

        // name stands for behavior name

        Behavior(std::string scoutname, std::string name,

                 Sensors * sensor);

        virtual ~Behavior();

        /// Extended by subclasses to actually run the behavior.

        virtual void run() = 0;

        // Name of behaviour

        std::string name;

        // Flag to check if sigint recieved.

        static bool keep_running;

    protected:

        ros::NodeHandle node;

        /// @todo Should this really be a pointer, or the object itself somehow?

        ros::Rate *loop_rate;

        // Declare all used library controls

        MotorControl * motors;

        ButtonControl * buttons;

        SonarControl * sonar;

        //CliffsensorControl * cliffsensor;

        EncodersControl * encoders;

        LinesensorControl * linesensor;

        WirelessSender * wl_sender;

        WirelessReceiver * wl_receiver;

        PaintBoardControl * paintboard;

        MetalDetectorControl * metal_detector;

        // Default callback for wireless receiver.

        void default_callback(std::vector<uint8_t> data);

        // Wrappers for ROS functions

        static bool ok();

        static void spin();

        static void spinOnce();

        static void wait(float duration);

};

#endif