Revision d140fd71

View differences:

scout/libscout/CMakeLists.txt
29 29
#rosbuild_add_executable(example examples/example.cpp)
30 30
#target_link_libraries(example ${PROJECT_NAME})
31 31

  
32
set(MAIN_FILES src/Behavior.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp)
32
set(MAIN_FILES src/Sensors.cpp src/Behavior.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp)
33 33
set(BEHAVIOR_FILES src/behaviors/Odometry.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/behaviors/navigationMap.cpp src/behaviors/line_follow.cpp src/behaviors/wl_test.cpp)
34 34
set(TEST_BEHAVIOR_FILES src/behaviors/Scheduler.cpp src/behaviors/WH_Robot.cpp)
35 35
set(HELPER_FILES src/helper_classes/Order.cpp src/helper_classes/PQWrapper.cpp)
scout/libscout/src/Behavior.cpp
48 48
 * @param scoutname If nonempty, specifies which scout in the simulator
49 49
 *                  will be controlled by this behavior.
50 50
 */
51
Behavior::Behavior(string scoutname, string my_name)
51
Behavior::Behavior(string scoutname, string my_name, Sensors * sensors)
52 52
{
53
    name = my_name;
54

  
55
    motors = new MotorControl(node, scoutname);
56
    buttons = new ButtonControl(node, scoutname);
57
    sonar = new SonarControl(node, scoutname);
58
    //cliffsensor = new CliffsensorControl(node, scoutname);
59
    encoders = new EncodersControl(node, scoutname);
60
    linesensor = new LinesensorControl(node, scoutname);
61
    wl_sender = new WirelessSender(node);
62
    wl_receiver = new WirelessReceiver(node);
63 53

  
54
    name = my_name;
55
    sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor,
56
                        &wl_sender, &wl_receiver);
64 57
    loop_rate = new ros::Rate(10);
65 58
}
66 59

  
scout/libscout/src/Behavior.h
50 50
#include "WirelessSender.h"
51 51
#include "WirelessReceiver.h"
52 52
#include "constants.h"
53
#include "Sensors.h"
53 54

  
54 55
typedef ros::Time Time;
55 56
typedef ros::Duration Duration;
......
58 59
{
59 60
    public:
60 61
        // Initializes ROS for behavior
61
        Behavior(std::string scoutname, std::string name);
62
        // name stands for behavior name
63
        Behavior(std::string scoutname, std::string name,
64
                 Sensors * sensor);
62 65

  
63 66
        /// Extended by subclasses to actually run the behavior.
64 67
        virtual void run() = 0;
65 68

  
66 69
        // Name of behaviour
67 70
        std::string name;
68

  
71
        
69 72
    protected:
70 73
        ros::NodeHandle node;
71 74

  
scout/libscout/src/BehaviorList.cpp
1 1
#include "BehaviorList.h"
2 2

  
3
BehaviorList::BehaviorList(std::string scoutname)
3

  
4
BehaviorList::BehaviorList(std::string scoutname, Sensors * sensor)
4 5
{
5
  behavior_list.push_back((Behavior*)new draw_cw_circle(scoutname));
6
  behavior_list.push_back((Behavior*)new draw_ccw_circle(scoutname));
7
  behavior_list.push_back((Behavior*)new Odometry(scoutname));
8
  behavior_list.push_back((Behavior*)new navigationMap(scoutname));
9
  behavior_list.push_back((Behavior*)new Scheduler(scoutname));
10
  behavior_list.push_back((Behavior*)new WH_Robot(scoutname));
11
  behavior_list.push_back((Behavior*)new line_follow(scoutname));
12
  behavior_list.push_back((Behavior*)new wl_test(scoutname));
6
  behavior_list.push_back((Behavior*)new draw_cw_circle(scoutname,sensor));
7
  behavior_list.push_back((Behavior*)new draw_ccw_circle(scoutname, sensor));
8
  behavior_list.push_back((Behavior*)new Odometry(scoutname, sensor));
9
  behavior_list.push_back((Behavior*)new navigationMap(scoutname, sensor));
10
  behavior_list.push_back((Behavior*)new Scheduler(scoutname, sensor));
11
  behavior_list.push_back((Behavior*)new WH_Robot(scoutname, sensor));
12
  behavior_list.push_back((Behavior*)new line_follow(scoutname, sensor));
13
  behavior_list.push_back((Behavior*)new wl_test(scoutname, sensor));
13 14
  return;
14 15
}
15 16

  
scout/libscout/src/BehaviorList.h
10 10
#include "behaviors/Scheduler.h"
11 11
#include "behaviors/WH_Robot.h"
12 12
#include "behaviors/wl_test.h"
13

  
13
#include "Sensors.h"
14 14
class BehaviorList
15 15
{
16 16
  public:
17 17
  std::vector<Behavior*> behavior_list;
18 18

  
19 19
  //Constructor. Initializes behavior_list
20
  BehaviorList(std::string scoutname);
20
  BehaviorList(std::string scoutname, Sensors* sensor);
21 21
  //Destructor. Frees behavior_list;
22 22
  ~BehaviorList();
23 23
};
scout/libscout/src/BehaviorProcess.cpp
1

  
1 2
/**
2 3
 * Copyright (c) 2011 Colony Project
3 4
 * 
......
34 35
 */
35 36

  
36 37
#include "BehaviorProcess.h"
38
#include "Sensors.h"
39
#include "assert.h"
37 40

  
38 41
int main (int argc, char **argv)
39 42
{
......
56 59
        behavior_num = atoi(argv[2]);
57 60

  
58 61
        ros::init(argc, argv, scoutname + "_behavior");
59

  
60
        BehaviorList* list = new BehaviorList(scoutname);
62
        // one Sensor instance per-class
63
        Sensors* sensors = new Sensors(scoutname);
64
        BehaviorList* list = new BehaviorList(scoutname, sensors);
61 65
        vector<Behavior*> behavior_list = list->behavior_list;
62

  
63 66
        if (behavior_num < (int)behavior_list.size())
64 67
        {
65 68
            (behavior_list[behavior_num])->run();
scout/libscout/src/MotorControl.h
65 65
#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT
66 66
#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV
67 67

  
68
#define MAXSPEED 100
68
#define MAXSPEED 255
69 69
#define MOTOR_PERCENT 'p'
70 70
#define MOTOR_MMS 'm'
71 71
#define MOTOR_CMS 'c'
scout/libscout/src/Sensors.cpp
1
/**
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
 */
25

  
26
/**
27
 * @file Behavior.cpp
28
 * @brief Contains basic functions for the structure of all behaviors.
29
 * 
30
 * Contains function implementations needed for all behavior.
31
 *
32
 * @author Colony Project, CMU Robotics Club
33
 * @author Priyanka Deo
34
 * @author Alex Zirbel
35
 **/
36

  
37
#include "Sensors.h"
38

  
39
using namespace std;
40

  
41
Sensors::Sensors(string scoutname)
42
{
43
    name = scoutname;
44
    motors = new MotorControl(node,scoutname);
45
    buttons = new ButtonControl(node, scoutname);
46
    sonar = new SonarControl(node, scoutname);
47
    //cliffsensor = new CliffsensorControl(node, scoutname);
48
    encoders = new EncodersControl(node, scoutname);
49
    linesensor = new LinesensorControl(node, scoutname);
50
    wl_sender = new WirelessSender(node);
51
}
52

  
53
// b_stuff stand for behavior control class
54
void Sensors::init(MotorControl** b_motors, ButtonControl ** b_buttons,
55
                  SonarControl ** b_sonar, EncodersControl ** b_encoders,
56
                  LinesensorControl ** b_linesensor,
57
                  WirelessSender ** b_wl_sender,
58
                  WirelessReceiver ** b_wl_receiver)
59
{
60
    //(MotorControl *)(* b_motors) = motors;
61
    *b_motors = motors;
62
    *b_buttons = buttons;
63
    *b_sonar = sonar;
64
    *b_encoders = encoders;
65
    *b_linesensor = linesensor;
66
    *b_wl_sender = wl_sender;
67
    *b_wl_receiver = new WirelessReceiver(node);
68
}
scout/libscout/src/Sensors.h
1
/**
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
 */
25

  
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
 * @author Alex Zirbel
35
 **/
36

  
37
#ifndef _SENSORS_H_
38
#define _SENSORS_H_
39

  
40
#include <ros/ros.h>
41
#include <std_msgs/String.h>
42

  
43
#include "MotorControl.h"
44
#include "HeadlightControl.h"
45
#include "ButtonControl.h"
46
#include "SonarControl.h"
47
//#include "CliffsensorControl.h"
48
#include "EncodersControl.h"
49
#include "LinesensorControl.h"
50
#include "WirelessSender.h"
51
#include "WirelessReceiver.h"
52

  
53
class Sensors
54
{
55
    public:
56
        Sensors(std::string scoutname);
57
        // b_stuff stand for behavior control class
58
        void init(MotorControl ** b_motors, ButtonControl ** b_buttons,
59
                  SonarControl ** b_sonar, EncodersControl ** b_encoders,
60
                  LinesensorControl ** b_linesensor,
61
                  WirelessSender ** b_wl_sender,
62
                  WirelessReceiver ** b_wl_receiver);
63
        std::string name;
64
    private:
65
        ros::NodeHandle node;
66
        MotorControl * motors;
67
        ButtonControl * buttons;
68
        SonarControl * sonar;
69
        //CliffsensorControl * cliffsensor;
70
        EncodersControl * encoders;
71
        LinesensorControl * linesensor;
72
        WirelessSender * wl_sender;
73
        WirelessReceiver * wl_receiver;
74
        
75
};
76

  
77

  
78
#endif
scout/libscout/src/behaviors/Odometry.cpp
4 4
using namespace std;
5 5

  
6 6
/** Set up the odometry node and prepare communcations over ROS */
7
Odometry::Odometry(string scoutname):Behavior(scoutname, "odometry")
7
Odometry::Odometry(string scoutname, Sensors* sensors):Behavior(scoutname, 
8
                                                "odometry", sensors)
8 9
{
9 10
  scout_pos = new pos;
10 11
}
scout/libscout/src/behaviors/Odometry.h
2 2
#define _ODOMETRY_H_
3 3

  
4 4
#include "../Behavior.h"
5
#include "../Sensors.h"
5 6

  
6 7

  
7 8
#define WHEEL_RADIUS  5
......
21 22
  public:
22 23

  
23 24
  /** Set up the odometry node and prepare communcations over ROS */
24
  Odometry(std::string scoutname);
25
  Odometry(std::string scoutname, Sensors* sensors);
25 26

  
26 27
  /** Query encoders and estimate position based on encoder reading */
27 28
  void get_position();
scout/libscout/src/behaviors/Scheduler.cpp
4 4
using namespace std;
5 5

  
6 6
/** @Brief: Initialize data structures for the scheduler. */
7
Scheduler::Scheduler(std::string scoutname):Behavior(scoutname, "Scheduler")
7
Scheduler::Scheduler(std::string scoutname, Sensors* sensors):
8
            Behavior(scoutname, "Scheduler", sensors)
8 9
{
9 10
  unassignedOrders = new PQWrapper(NUM_TASKS);
10 11

  
scout/libscout/src/behaviors/Scheduler.h
30 30
  void msg_callback(const std_msgs::String::ConstPtr& msg);
31 31

  
32 32
public:
33
  Scheduler(std::string scoutname);
33
  Scheduler(std::string scoutname, Sensors* sensors);
34 34
	~Scheduler();
35 35
	
36 36
	void get_task(int robot);
scout/libscout/src/behaviors/WH_Robot.cpp
2 2
#include "../helper_classes/Order.h"
3 3

  
4 4
/** @Brief: warehouse robot constructor **/
5
WH_Robot::WH_Robot(std::string scoutname):line_follow(scoutname) 
5
WH_Robot::WH_Robot(std::string scoutname, Sensors* sensors):
6
            line_follow(scoutname, sensors) 
6 7
{
7
  nav_map = new navigationMap(scoutname);
8
  nav_map = new navigationMap(scoutname, sensors);
8 9
  curr_task = DEFAULT_TASK;
9 10
  name = scoutname;
10 11
  reg_failed = 1;
scout/libscout/src/behaviors/WH_Robot.h
30 30
        void leave_home();
31 31

  
32 32
    public:
33
        WH_Robot(std::string scoutname);
33
        WH_Robot(std::string scoutname, Sensors* sensors);
34 34
        ~WH_Robot();
35 35
        void run();
36 36

  
scout/libscout/src/behaviors/draw_ccw_circle.cpp
29 29
{
30 30
    while(ok())
31 31
    {
32
        motors->set_sides(20, 80, MOTOR_ABSOLUTE);
32
        motors->set_sides(80, 20, MOTOR_ABSOLUTE);
33 33

  
34 34
        spinOnce();
35 35
        loop_rate->sleep();
scout/libscout/src/behaviors/draw_ccw_circle.h
27 27
#define _DRAW_CCW_CIRCLE_H_
28 28

  
29 29
#include "../Behavior.h"
30

  
30
#include "../Sensors.h"
31 31
class draw_ccw_circle : Behavior
32 32
{
33 33
    public:
34 34
        /// @todo Is this the best way to inherit the Behavior constructor?
35
        draw_ccw_circle(std::string scoutname) : Behavior(scoutname, "draw_ccw_circle"){ };
35
        draw_ccw_circle(std::string scoutname, Sensors* sensors) : 
36
                        Behavior(scoutname, "draw_ccw_circle", sensors){ };
36 37

  
37 38
        /** Actually executes the behavior. */
38 39
        void run();
scout/libscout/src/behaviors/draw_cw_circle.cpp
29 29
{
30 30
    while(ok())
31 31
    {
32
        motors->set_sides(80, 20, MOTOR_ABSOLUTE);
32
        motors->set_sides(20, 80, MOTOR_ABSOLUTE);
33 33

  
34 34
        encoder_readings readings = encoders->query();
35 35

  
scout/libscout/src/behaviors/draw_cw_circle.h
27 27
#define _DRAW_CW_CIRCLE_H_
28 28

  
29 29
#include "../Behavior.h"
30
#include "../Sensors.h"
30 31

  
31 32
class draw_cw_circle : Behavior
32 33
{
33 34
    public:
34 35
        /// @todo Is this the best way to inherit the Behavior constructor?
35
        draw_cw_circle(std::string scoutname) : Behavior(scoutname, "draw_cw_circle") {};
36
        draw_cw_circle(std::string scoutname, Sensors* sensors) : 
37
                Behavior(scoutname, "draw_cw_circle", sensors) {};
36 38

  
37 39
        /** Actually executes the behavior. */
38 40
        void run();
scout/libscout/src/behaviors/line_follow.h
27 27
#define _LINE_FOLLOW_H_
28 28

  
29 29
#include "../Behavior.h"
30
#include "../Sensors.h"
30 31

  
31 32
#define MOTOR_BASE 50
32 33
#define SCALE 20
......
34 35
class line_follow : public Behavior
35 36
{
36 37
    public:
37
        line_follow(std::string scoutname) : Behavior(scoutname, "line_follow") {};
38
        line_follow(std::string scoutname, Sensors* sensors) : 
39
                Behavior(scoutname, "line_follow", sensors) {};
38 40

  
39 41
        /** Actually executes the behavior. */
40 42
        void run();
scout/libscout/src/behaviors/navigationMap.cpp
48 48
 * The map itself is represented as a dynamic array of edge arrays
49 49
 * @param the string name of the scout
50 50
 */
51
navigationMap::navigationMap(string scoutname) : Behavior(scoutname, "navigationMap")
51
navigationMap::navigationMap(string scoutname, Sensors* sensors) : 
52
            Behavior(scoutname, "navigationMap", sensors)
52 53
{
53 54
  /** Initialize Map 
54 55
   *                     _____
scout/libscout/src/behaviors/navigationMap.h
108 108

  
109 109
  public:
110 110
    /** Initializes the navigation map */
111
    navigationMap(std::string scoutname);
111
    navigationMap(std::string scoutname, Sensors* sensors);
112 112
    /** Goes through and frees all allocated memory */
113 113
    ~navigationMap();
114 114

  
scout/libscout/src/behaviors/trafficNavigation.h
136 136
class trafficNavigation : Behavior
137 137
{
138 138
    public:
139
        trafficNavigation(std::string scoutname) : Behavior(scoutname, "traffic_nav") {};
139
        trafficNavigation(std::string scoutname, Sensors* sensors) : 
140
                Behavior(scoutname, "traffic_nav", sensors) {};
140 141

  
141 142
        void run();
142 143
		int wirelessPacketHandle(int state);
scout/libscout/src/behaviors/wl_test.h
27 27
#define _WL_TEST_H_
28 28

  
29 29
#include "../Behavior.h"
30
#include "../Sensors.h"
30 31

  
31 32
class wl_test : Behavior
32 33
{
33 34
    public:
34
        wl_test(std::string scoutname) : Behavior(scoutname, "wl_test"),
35
        wl_test(std::string scoutname, Sensors* sensors) : 
36
                Behavior(scoutname, "wl_test", sensors),
35 37
            no_response(true), scout_name(scoutname) {};
36 38
        /** Actually executes the behavior. */
37 39
        void data_callback(std::vector<uint8_t> data);

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