Statistics
| Branch: | Revision:

root / scout / libscout / src / Behavior.h @ dcf49526

History | View | Annotate | Download (3.01 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.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 _BEHAVIOR_H_
38
#define _BEHAVIOR_H_
39

    
40
#include <ros/ros.h>
41
#include <std_msgs/String.h>
42
#include <iostream>
43

    
44
#include "MotorControl.h"
45
#include "HeadlightControl.h"
46
#include "ButtonControl.h"
47
#include "SonarControl.h"
48
//#include "CliffsensorControl.h"
49
#include "EncodersControl.h"
50
#include "LinesensorControl.h"
51
#include "WirelessSender.h"
52
#include "WirelessReceiver.h"
53
#include "constants.h"
54
#include "Sensors.h"
55

    
56
typedef ros::Time Time;
57
typedef ros::Duration Duration;
58

    
59
class Behavior
60
{
61
    public:
62
        // Initializes ROS for behavior
63
        // name stands for behavior name
64
        Behavior(std::string scoutname, std::string name,
65
                 Sensors * sensor);
66

    
67
        virtual ~Behavior();
68

    
69
        /// Extended by subclasses to actually run the behavior.
70
        virtual void run() = 0;
71

    
72
        // Name of behaviour
73
        std::string name;
74

    
75
        // Flag to check if sigint recieved.
76
        static bool keep_running;
77
        
78
    protected:
79
        ros::NodeHandle node;
80

    
81
        /// @todo Should this really be a pointer, or the object itself somehow?
82
        ros::Rate *loop_rate;
83

    
84
        // Declare all used library controls
85
        MotorControl * motors;
86
        ButtonControl * buttons;
87
        SonarControl * sonar;
88
        //CliffsensorControl * cliffsensor;
89
        EncodersControl * encoders;
90
        LinesensorControl * linesensor;
91
        WirelessSender * wl_sender;
92
        WirelessReceiver * wl_receiver;
93

    
94
        // Default callback for wireless receiver.
95
        void default_callback(std::vector<uint8_t> data);
96

    
97
        // Wrappers for ROS functions
98
        static bool ok();
99
        static void spin();
100
        static void spinOnce();
101
};
102

    
103
#endif