root / scout / libscout / src / Behavior.cpp @ 93cebb99
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| 1 | cef78c70 | pdeo | /**
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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 | c492be62 | Alex Zirbel | */
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| 25 | cef78c70 | pdeo | |
| 26 | /**
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| 27 | * @file Behavior.cpp
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| 28 | c492be62 | Alex Zirbel | * @brief Contains basic functions for the structure of all behaviors.
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| 29 | cef78c70 | pdeo | *
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| 30 | * Contains function implementations needed for all behavior.
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| 31 | *
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| 32 | * @author Colony Project, CMU Robotics Club
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| 33 | * @author Priyanka Deo
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| 34 | c384dc7e | Alex Zirbel | * @author Alex Zirbel
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| 35 | 3a73516c | Alex | *
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| 36 | * @defgroup behavior Behavior
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| 37 | * @brief Functions which are accessible by all behaviors.
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| 38 | *
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| 39 | * @{
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| 40 | cef78c70 | pdeo | **/
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| 41 | |||
| 42 | #include "Behavior.h" |
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| 43 | |||
| 44 | c384dc7e | Alex Zirbel | using namespace std; |
| 45 | cef78c70 | pdeo | |
| 46 | dcf49526 | Priya | bool Behavior::keep_running;
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| 47 | |||
| 48 | c492be62 | Alex Zirbel | /**
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| 49 | * Constructs a behavior and sets up all control classes.
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| 50 | *
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| 51 | * This constructor is used by all behaviors which inherit the Behavior
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| 52 | * class, so that it is easy to create a behavior with access to ROS
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| 53 | * functionality through the control classes.
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| 54 | *
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| 55 | * @param scoutname If nonempty, specifies which scout in the simulator
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| 56 | * will be controlled by this behavior.
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| 57 | */
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| 58 | d140fd71 | Yuyang | Behavior::Behavior(string scoutname, string my_name, Sensors * sensors) |
| 59 | c384dc7e | Alex Zirbel | {
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| 60 | d140fd71 | Yuyang | name = my_name; |
| 61 | dcf49526 | Priya | keep_running = true;
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| 62 | d140fd71 | Yuyang | sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor, |
| 63 | 93cebb99 | Yuyang (Misty) Guo | &wl_sender, &wl_receiver, &paintboard, &metal_detector, |
| 64 | &bom); |
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| 65 | a2b7e8f1 | Priya | wl_receiver->register_callback(std::bind(&Behavior::default_callback, |
| 66 | this, std::placeholders::_1));
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| 67 | |||
| 68 | c384dc7e | Alex Zirbel | loop_rate = new ros::Rate(10); |
| 69 | cef78c70 | pdeo | } |
| 70 | |||
| 71 | c492be62 | Alex Zirbel | /**
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| 72 | a2b7e8f1 | Priya | * Cleans up after a behavior is killed.
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| 73 | */
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| 74 | Behavior::~Behavior() |
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| 75 | {
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| 76 | motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
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| 77 | faa11f08 | Priya | spinOnce(); |
| 78 | a2b7e8f1 | Priya | delete wl_receiver;
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| 79 | delete loop_rate;
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| 80 | } |
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| 81 | |||
| 82 | /**
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| 83 | * Empty callback used as default callback for wireless receiver.
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| 84 | */
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| 85 | void Behavior::default_callback(vector<uint8_t> data)
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| 86 | {
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| 87 | return;
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| 88 | } |
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| 89 | |||
| 90 | /**
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| 91 | c492be62 | Alex Zirbel | * Allows the behavior to check ros::ok(), without being aware of ROS.
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| 92 | */
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| 93 | c384dc7e | Alex Zirbel | bool Behavior::ok()
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| 94 | cef78c70 | pdeo | {
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| 95 | dcf49526 | Priya | return keep_running;
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| 96 | cef78c70 | pdeo | } |
| 97 | |||
| 98 | c492be62 | Alex Zirbel | /**
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| 99 | * Allows the behavior to call ros::spin(), without being aware of ROS.
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| 100 | */
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| 101 | c384dc7e | Alex Zirbel | void Behavior::spin()
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| 102 | cef78c70 | pdeo | {
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| 103 | ros::spin(); |
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| 104 | return;
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| 105 | } |
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| 106 | |||
| 107 | c492be62 | Alex Zirbel | /**
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| 108 | * Allows the behavior to call ros::spinOnce(), without being aware of ROS.
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| 109 | */
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| 110 | c384dc7e | Alex Zirbel | void Behavior::spinOnce()
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| 111 | cef78c70 | pdeo | {
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| 112 | c384dc7e | Alex Zirbel | ros::spinOnce(); |
| 113 | cef78c70 | pdeo | return;
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| 114 | } |
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| 115 | 4026134b | Alex | |
| 116 | /**
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| 117 | * Calls ros::spinOnce() in a loop until the duration is up.
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| 118 | */
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| 119 | void Behavior::wait(float duration) |
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| 120 | {
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| 121 | ros::Rate r(WAIT_HZ); |
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| 122 | d7e1b0d8 | Alex | int ticks = int(duration * WAIT_HZ); |
| 123 | 4026134b | Alex | for (int i = 0; i < ticks; i++) |
| 124 | {
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| 125 | spinOnce(); |
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| 126 | r.sleep(); |
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| 127 | } |
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| 128 | } |
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| 129 | 3a73516c | Alex | |
| 130 | /** @} */ |