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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.h
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 * @brief Contains declarations for the structure of all behaviours.
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 * 
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 * Contains functions and definitions for a generic 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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#ifndef _BEHAVIOR_H_
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#define _BEHAVIOR_H_
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#include <ros/ros.h>
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#include <std_msgs/String.h>
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#include <iostream>
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#include "MotorControl.h"
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#include "HeadlightControl.h"
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#include "ButtonControl.h"
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#include "SonarControl.h"
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//#include "CliffsensorControl.h"
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#include "EncodersControl.h"
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#include "LinesensorControl.h"
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#include "WirelessSender.h"
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#include "WirelessReceiver.h"
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#include "constants.h"
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#include "Sensors.h"
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typedef ros::Time Time;
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typedef ros::Duration Duration;
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#define WAIT_HZ 100     // Frequency of spinOnce() calls in wait()
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class Behavior
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{
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    public:
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        // Initializes ROS for behavior
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        // name stands for behavior name
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        Behavior(std::string scoutname, std::string name,
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                 Sensors * sensor);
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        virtual ~Behavior();
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        /// Extended by subclasses to actually run the behavior.
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        virtual void run() = 0;
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        // Name of behaviour
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        std::string name;
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        // Flag to check if sigint recieved.
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        static bool keep_running;
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    protected:
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        ros::NodeHandle node;
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        /// @todo Should this really be a pointer, or the object itself somehow?
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        ros::Rate *loop_rate;
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        // Declare all used library controls
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        MotorControl * motors;
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        ButtonControl * buttons;
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        SonarControl * sonar;
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        //CliffsensorControl * cliffsensor;
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        EncodersControl * encoders;
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        LinesensorControl * linesensor;
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        WirelessSender * wl_sender;
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        WirelessReceiver * wl_receiver;
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        PaintBoardControl * paintboard;
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        MetalDetectorControl * metal_detector;
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        // Default callback for wireless receiver.
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        void default_callback(std::vector<uint8_t> data);
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        // Wrappers for ROS functions
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        static bool ok();
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        static void spin();
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        static void spinOnce();
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        virtual void wait(float duration);
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};
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#endif