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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 Contains basic functions for the structure of all behaviors.
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 * 
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 * Contains function implementations needed for all behavior.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 * @author Alex Zirbel
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 * 
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 * @defgroup behavior Behavior
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 * @brief Functions which are accessible by all behaviors.
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 *
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 * @{
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 **/
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#include "Behavior.h"
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using namespace std;
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bool Behavior::keep_running;
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/**
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 * Constructs a behavior and sets up all control classes.
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 *
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 * This constructor is used by all behaviors which inherit the Behavior
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 * class, so that it is easy to create a behavior with access to ROS
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 * functionality through the control classes.
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 *
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 * @param scoutname If nonempty, specifies which scout in the simulator
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 *                  will be controlled by this behavior.
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 */
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Behavior::Behavior(string scoutname, string my_name, Sensors * sensors)
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{
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    name = my_name;
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    keep_running = true;
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    sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor,
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                        &wl_sender, &wl_receiver, &paintboard, &metal_detector);
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    wl_receiver->register_callback(std::bind(&Behavior::default_callback,
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        this, std::placeholders::_1));
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    loop_rate = new ros::Rate(10);
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}
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/**
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 * Cleans up after a behavior is killed.
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 */
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Behavior::~Behavior()
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{
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  motors->set_sides(0, 0, MOTOR_ABSOLUTE);
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  spinOnce();
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  delete wl_receiver;
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  delete loop_rate;
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}
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/**
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 * Empty callback used as default callback for wireless receiver.
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 */
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void Behavior::default_callback(vector<uint8_t> data)
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{
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  return;
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}
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/**
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 * Allows the behavior to check ros::ok(), without being aware of ROS.
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 */
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bool Behavior::ok()
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{
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    return keep_running;
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}
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/**
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 * Allows the behavior to call ros::spin(), without being aware of ROS.
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 */
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void Behavior::spin()
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{
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    ros::spin();
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    return;
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}
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/**
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 * Allows the behavior to call ros::spinOnce(), without being aware of ROS.
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 */
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void Behavior::spinOnce()
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{
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    ros::spinOnce();
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    return;
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}
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/**
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 * Calls ros::spinOnce() in a loop until the duration is up.
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 */
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void Behavior::wait(float duration)
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{
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    ros::Rate r(WAIT_HZ);
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    int ticks = int(duration * WAIT_HZ);
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    for (int i = 0; i < ticks; i++)
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    {
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        spinOnce();
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        r.sleep();
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    }
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}
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/** @} */