Statistics
| Branch: | Revision:

root / scout / libscout / src / BehaviorProcess.cpp @ da08d580

History | View | Annotate | Download (2.48 KB)

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 A wrapper that executes PriyaBehavior as an executable.
29
 *
30
 * Should be auto-generated in the future.
31
 * 
32
 * @author Colony Project, CMU Robotics Club
33
 * @author Alex Zirbel
34
 */
35

    
36
#include "BehaviorProcess.h"
37

    
38
int main (int argc, char **argv)
39
{
40
    string scoutname = "";
41
    int behavior_num;
42
    string behavior_name = "";
43

    
44
    // Running with no arguments only supports one scout. Check in case
45
    // the user meant to specify a scout in the arguments.
46
    if (argc < 3)
47
    {
48
        cout << "You have started this behavior in hardware mode." << endl
49
             << "To start in software mode, use: " << argv[0]
50
             << " <scoutname> <behavior#> " << endl;
51
    }
52
    else
53
    {
54
        // Use the provided scoutname for simulator messages
55
        scoutname = argv[1];
56
        behavior_num = atoi(argv[2]);
57

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

    
60
        BehaviorList* list = new BehaviorList(scoutname);
61
        vector<Behavior*> behavior_list = list->behavior_list;
62

    
63
        if (behavior_num < (int)behavior_list.size())
64
        {
65
            (behavior_list[behavior_num])->run();
66
        }
67
        else
68
        {
69
            cout << "There is no behavior number" << behavior_num
70
              << ". There are only " << (int)behavior_list.size() << "behaviors."
71
              << endl;
72
        }
73

    
74
        delete list;
75
    }
76

    
77
    return 0;
78
}