root / scout / libscout / src / BehaviorProcess.cpp @ 8b7d6f99
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/**
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* Copyright (c) 2011 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 Behavior.cpp
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* @brief A wrapper that executes PriyaBehavior as an executable.
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*
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* Should be auto-generated in the future.
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*
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* @author Colony Project, CMU Robotics Club
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* @author Alex Zirbel
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*/
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#include "BehaviorProcess.h" |
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#include "Sensors.h" |
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#include <assert.h> |
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#include <signal.h> |
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// Make the behavior's ok() function return false.
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void sigint_handler(int sig) |
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{ |
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Behavior::keep_running = false;
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} |
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int main (int argc, char **argv) |
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{ |
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string scoutname = ""; |
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int behavior_num;
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string behavior_name = ""; |
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// Running with no arguments only supports one scout. Check in case
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// the user meant to specify a scout in the arguments.
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if (argc < 2) |
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{ |
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cout << "You have started this behavior in hardware mode." << endl
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<< "To start in software mode, use: " << argv[0] |
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<< " <behavior#> <scoutname> " << endl;
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} |
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else
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{ |
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// Use the provided scoutname for simulator messages
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//scoutname = argv[1];
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behavior_num = atoi(argv[1]);
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if (argc == 3) { |
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scoutname = argv[2];
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} |
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ros::init(argc, argv, scoutname + "Behavior",
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ros::init_options::NoSigintHandler); |
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// Initialize the signal handler after initializing rosnode.
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// Otherwise it will be overwritten and you will be sad.
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signal(SIGINT, sigint_handler); |
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// one Sensor instance per-class
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Sensors* sensors = new Sensors(scoutname);
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BehaviorList* list = new BehaviorList();
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vector<behavior_func> behavior_list = list->behavior_list; |
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if (behavior_num < (int)behavior_list.size()) |
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{ |
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Behavior* b = behavior_list[behavior_num](scoutname, sensors); |
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b->run(); |
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delete b;
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} |
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else
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{ |
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cout << "There is no behavior number" << behavior_num
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<< ". There are only " << (int)behavior_list.size() << "behaviors." |
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<< endl; |
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} |
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delete list;
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delete sensors;
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} |
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return 0; |
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} |